Package evaluation to test DirectTrajOpt on Julia 1.14.0-DEV.2407 (ce8c59448a*) started at 2026-06-19T00:04:55.551 ################################################################################ # Set-up # Installing PkgEval dependencies (TestEnv)... Activating project at `~/.julia/environments/v1.14` Set-up completed after 14.38s ################################################################################ # Installation # Installing DirectTrajOpt... Resolving package versions... Updating `~/.julia/environments/v1.14/Project.toml` [c823fa1f] + DirectTrajOpt v0.9.6 Updating `~/.julia/environments/v1.14/Manifest.toml` [47edcb42] + ADTypes v1.22.0 ⌃ [c29ec348] + AbstractDifferentiation v0.4.4 [7d9f7c33] + Accessors v0.1.44 [79e6a3ab] + Adapt v4.6.1 [4fba245c] + ArrayInterface v7.25.0 [4c555306] + ArrayLayouts v1.12.2 [70df07ce] + BracketingNonlinearSolve v1.12.1 [d360d2e6] + ChainRulesCore v1.26.1 [0b6fb165] + ChunkCodecCore v1.0.1 [4c0bbee4] + ChunkCodecLibZlib v1.0.0 [55437552] + ChunkCodecLibZstd v1.0.0 [523fee87] + CodecBzip2 v0.8.5 [944b1d66] + CodecZlib v0.7.8 [38540f10] + CommonSolve v0.2.7 [bbf7d656] + CommonSubexpressions v0.3.1 [34da2185] + Compat v4.18.1 [a33af91c] + CompositionsBase v0.1.2 [2569d6c7] + ConcreteStructs v0.2.4 [187b0558] + ConstructionBase v1.6.0 [864edb3b] + DataStructures v0.19.5 [2b5f629d] + DiffEqBase v7.5.5 [163ba53b] + DiffResults v1.1.0 [b552c78f] + DiffRules v1.16.0 [a0c0ee7d] + DifferentiationInterface v0.7.18 [c823fa1f] + DirectTrajOpt v0.9.6 [ffbed154] + DocStringExtensions v0.9.5 [4e289a0a] + EnumX v1.0.7 [f151be2c] + EnzymeCore v0.8.20 [e24c0720] + ExponentialAction v0.2.10 [e2ba6199] + ExprTools v0.1.10 [7034ab61] + FastBroadcast v1.3.2 [9aa1b823] + FastClosures v0.3.2 [a4df4552] + FastPower v1.3.1 [5789e2e9] + FileIO v1.19.0 [1a297f60] + FillArrays v1.16.0 [6a86dc24] + FiniteDiff v2.31.0 [f6369f11] + ForwardDiff v1.4.1 [069b7b12] + FunctionWrappers v1.1.3 [77dc65aa] + FunctionWrappersWrappers v1.9.1 [46192b85] + GPUArraysCore v0.2.0 [076d061b] + HashArrayMappedTries v0.2.0 [3587e190] + InverseFunctions v0.1.17 [b6b21f68] + Ipopt v1.14.3 [92d709cd] + IrrationalConstants v0.2.6 [82899510] + IteratorInterfaceExtensions v1.0.0 [033835bb] + JLD2 v0.6.4 [692b3bcd] + JLLWrappers v1.8.0 [682c06a0] + JSON v1.6.1 [5078a376] + LazyArrays v2.9.10 [2ab3a3ac] + LogExpFunctions v1.0.1 [e6f89c97] + LoggingExtras v1.2.0 [1914dd2f] + MacroTools v0.5.16 [b8f27783] + MathOptInterface v1.51.1 [bb5d69b7] + MaybeInplace v0.1.4 [46d2c3a1] + MuladdMacro v0.2.4 [d8a4904e] + MutableArithmetics v1.8.0 [77ba4419] + NaNMath v1.1.4 [538bc3a1] + NamedTrajectories v0.9.1 [be0214bd] + NonlinearSolveBase v2.31.0 ⌅ [bac558e1] + OrderedCollections v1.8.2 [bbf590c4] + OrdinaryDiffEqCore v4.3.0 [b1df2697] + OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] + Parsers v2.8.6 [d236fae5] + PreallocationTools v1.2.0 [aea7be01] + PrecompileTools v1.3.4 [21216c6a] + Preferences v1.5.2 [3cdcf5f2] + RecipesBase v1.3.4 [731186ca] + RecursiveArrayTools v4.3.1 [189a3867] + Reexport v1.2.2 [ae029012] + Requires v1.3.1 [7e49a35a] + RuntimeGeneratedFunctions v0.5.19 [0bca4576] + SciMLBase v3.21.0 [19f34311] + SciMLJacobianOperators v0.1.13 [a6db7da4] + SciMLLogging v2.0.0 [c0aeaf25] + SciMLOperators v1.22.0 [431bcebd] + SciMLPublic v1.0.1 [53ae85a6] + SciMLStructures v1.10.0 [7e506255] + ScopedValues v1.6.2 [efcf1570] + Setfield v1.1.2 [276daf66] + SpecialFunctions v2.8.0 [90137ffa] + StaticArrays v1.9.18 [1e83bf80] + StaticArraysCore v1.4.4 [10745b16] + Statistics v1.11.1 [ec057cc2] + StructUtils v2.8.2 [2efcf032] + SymbolicIndexingInterface v0.3.48 [f8b46487] + TestItemRunner v1.1.5 [1c621080] + TestItems v1.0.0 [a759f4b9] + TimerOutputs v0.5.29 [6dad8b7f] + TrajectoryIndexingUtils v0.1.0 [3bb67fe8] + TranscodingStreams v0.11.3 [781d530d] + TruncatedStacktraces v1.4.0 [ae81ac8f] + ASL_jll v0.1.3+0 [6e34b625] + Bzip2_jll v1.0.9+0 [e33a78d0] + Hwloc_jll v2.13.0+1 ⌅ [9cc047cb] + Ipopt_jll v300.1400.1901+0 [94ce4f54] + Libiconv_jll v1.18.0+0 [d00139f3] + METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] + MUMPS_seq_jll v500.800.200+0 [656ef2d0] + OpenBLAS32_jll v0.3.33+1 [efe28fd5] + OpenSpecFun_jll v0.5.6+0 [319450e9] + SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] + XML2_jll v2.13.9+0 [a65dc6b1] + Xorg_libpciaccess_jll v0.19.0+0 [0dad84c5] + ArgTools v1.2.0 [56f22d72] + Artifacts v1.11.0 [2a0f44e3] + Base64 v1.11.0 [ade2ca70] + Dates v1.11.0 [8ba89e20] + Distributed v1.11.0 [f43a241f] + Downloads v1.7.0 [7b1f6079] + FileWatching v1.11.0 [9fa8497b] + Future v1.11.0 [b77e0a4c] + InteractiveUtils v1.11.0 [ac6e5ff7] + JuliaSyntaxHighlighting v1.13.0 [b27032c2] + LibCURL v1.0.0 [76f85450] + LibGit2 v1.11.0 [8f399da3] + Libdl v1.11.0 [37e2e46d] + LinearAlgebra v1.14.0 [56ddb016] + Logging v1.11.0 [d6f4376e] + Markdown v1.11.0 [a63ad114] + Mmap v1.11.0 [ca575930] + NetworkOptions v1.3.0 [44cfe95a] + Pkg v1.14.0 [de0858da] + Printf v1.11.0 [9a3f8284] + Random v1.11.0 [ea8e919c] + SHA v1.13.0 [9e88b42a] + Serialization v1.11.0 [6462fe0b] + Sockets v1.11.0 [2f01184e] + SparseArrays v1.13.0 [f489334b] + StyledStrings v1.13.0 [fa267f1f] + TOML v1.0.3 [a4e569a6] + Tar v1.10.0 [8dfed614] + Test v1.11.0 [cf7118a7] + UUIDs v1.11.0 [4ec0a83e] + Unicode v1.11.0 [e66e0078] + CompilerSupportLibraries_jll v1.5.3+0 [deac9b47] + LibCURL_jll v8.20.0+1 [e37daf67] + LibGit2_jll v1.9.4+0 [29816b5a] + LibSSH2_jll v1.11.101+0 [14a3606d] + MozillaCACerts_jll v2026.5.14 [4536629a] + OpenBLAS_jll v0.3.33+0 [05823500] + OpenLibm_jll v0.8.7+0 [458c3c95] + OpenSSL_jll v3.5.7+0 [efcefdf7] + PCRE2_jll v10.47.0+0 [bea87d4a] + SuiteSparse_jll v7.10.1+0 [83775a58] + Zlib_jll v1.3.2+0 [3161d3a3] + Zstd_jll v1.5.7+1 [8e850b90] + libblastrampoline_jll v5.15.0+0 [8e850ede] + nghttp2_jll v1.69.0+0 [3f19e933] + p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m` Installation completed after 5.81s ################################################################################ # Precompilation # Precompiling PkgEval dependencies... Precompiling package dependencies... Precompiling project... WARNING: Imported binding Compiler.ConstCallInfo was undeclared at import time during import to JET. WARNING: Imported binding Compiler.WorldView was undeclared at import time during import to JET. ERROR: LoadError: UndefVarError: `WorldView` not defined in `JET` Suggestion: this global was defined as `Compiler.WorldView` but not assigned a value. Stacktrace:  [1] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/abstractinterpret/typeinfer.jl:215  [2] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [3] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/JETBase.jl:317  [4] include(mapexpr::Function, mod::Module, _path::String)  @ Base Base.jl:326  [5] top-level scope  @ ~/.julia/packages/JET/Nf2tu/src/JET.jl:42  [6] include(mod::Module, _path::String)  @ Base Base.jl:325  [7] include_package_for_output(pkg::Base.PkgId, input::String, syntax_version::VersionNumber, depot_path::Vector{String}, dl_load_path::Vector{String}, load_path::Vector{String}, concrete_deps::Vector{Pair{Base.PkgId, UInt128}}, source::Nothing)  @ Base loading.jl:3303  [8] top-level scope  @ stdin:5  [9] eval(m::Module, e::Any)  @ Core boot.jl:522  [10] include_string(mapexpr::typeof(identity), mod::Module, code::String, filename::String)  @ Base loading.jl:3132  [11] include_string(m::Module, txt::String, fname::String)  @ Base loading.jl:3142 [inlined]  [12] exec_options(opts::Base.JLOptions)  @ Base client.jl:353  [13] _start()  @ Base client.jl:596 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/abstractinterpret/typeinfer.jl:215 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/JETBase.jl:317 in expression starting at /home/pkgeval/.julia/packages/JET/Nf2tu/src/JET.jl:1 in expression starting at stdin:5 ✗ JET 13.1 s ✓ NamedTrajectories 32.9 s ✓ DirectTrajOpt 31.7 s ✓ DirectTrajOpt → MadNLPSolverExt 3 dependencies successfully precompiled in 94 seconds. 225 already precompiled. Precompilation completed after 119.97s ################################################################################ # Testing # Testing DirectTrajOpt Status `/tmp/jl_utOQEd/Project.toml` [4c88cf16] Aqua v0.8.16 [c823fa1f] DirectTrajOpt v0.9.6 [e24c0720] ExponentialAction v0.2.10 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.4.1 [b6b21f68] Ipopt v1.14.3 [c3a54625] JET v0.11.4 [5078a376] LazyArrays v2.9.10 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [538bc3a1] NamedTrajectories v0.9.1 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [189a3867] Reexport v1.2.2 [0bca4576] SciMLBase v3.21.0 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.14.0 [9a3f8284] Random v1.11.0 [2f01184e] SparseArrays v1.13.0 [8dfed614] Test v1.11.0 Status `/tmp/jl_utOQEd/Manifest.toml` [47edcb42] ADTypes v1.22.0 [14f7f29c] AMD v0.5.3 ⌃ [c29ec348] AbstractDifferentiation v0.4.4 [7d9f7c33] Accessors v0.1.44 [79e6a3ab] Adapt v4.6.1 [4c88cf16] Aqua v0.8.16 [4fba245c] ArrayInterface v7.25.0 [4c555306] ArrayLayouts v1.12.2 [70df07ce] BracketingNonlinearSolve v1.12.1 [d360d2e6] ChainRulesCore v1.26.1 [0b6fb165] ChunkCodecCore v1.0.1 [4c0bbee4] ChunkCodecLibZlib v1.0.0 [55437552] ChunkCodecLibZstd v1.0.0 [da1fd8a2] CodeTracking v3.0.2 [523fee87] CodecBzip2 v0.8.5 [944b1d66] CodecZlib v0.7.8 [38540f10] CommonSolve v0.2.7 [bbf7d656] CommonSubexpressions v0.3.1 [34da2185] Compat v4.18.1 [807dbc54] Compiler v0.1.1 [a33af91c] CompositionsBase v0.1.2 [2569d6c7] ConcreteStructs v0.2.4 [187b0558] ConstructionBase v1.6.0 [864edb3b] DataStructures v0.19.5 [2b5f629d] DiffEqBase v7.5.5 [163ba53b] DiffResults v1.1.0 [b552c78f] DiffRules v1.16.0 [a0c0ee7d] DifferentiationInterface v0.7.18 [c823fa1f] DirectTrajOpt v0.9.6 [ffbed154] DocStringExtensions v0.9.5 [4e289a0a] EnumX v1.0.7 [f151be2c] EnzymeCore v0.8.20 [e24c0720] ExponentialAction v0.2.10 [e2ba6199] ExprTools v0.1.10 [7034ab61] FastBroadcast v1.3.2 [9aa1b823] FastClosures v0.3.2 [a4df4552] FastPower v1.3.1 [5789e2e9] FileIO v1.19.0 [1a297f60] FillArrays v1.16.0 [6a86dc24] FiniteDiff v2.31.0 [f6369f11] ForwardDiff v1.4.1 [069b7b12] FunctionWrappers v1.1.3 [77dc65aa] FunctionWrappersWrappers v1.9.1 [46192b85] GPUArraysCore v0.2.0 [076d061b] HashArrayMappedTries v0.2.0 [3587e190] InverseFunctions v0.1.17 [b6b21f68] Ipopt v1.14.3 [92d709cd] IrrationalConstants v0.2.6 [82899510] IteratorInterfaceExtensions v1.0.0 [c3a54625] JET v0.11.4 [033835bb] JLD2 v0.6.4 [692b3bcd] JLLWrappers v1.8.0 [682c06a0] JSON v1.6.1 [aa1ae85d] JuliaInterpreter v0.10.12 [70703baa] JuliaSyntax v1.0.2 [40e66cde] LDLFactorizations v0.10.2 [5078a376] LazyArrays v2.9.10 [5c8ed15e] LinearOperators v2.14.1 [2ab3a3ac] LogExpFunctions v1.0.1 [e6f89c97] LoggingExtras v1.2.0 ⌅ [6f1432cf] LoweredCodeUtils v3.5.3 [1914dd2f] MacroTools v0.5.16 ⌅ [2621e9c9] MadNLP v0.9.2 [b8f27783] MathOptInterface v1.51.1 [bb5d69b7] MaybeInplace v0.1.4 [46d2c3a1] MuladdMacro v0.2.4 [d8a4904e] MutableArithmetics v1.8.0 [a4795742] NLPModels v0.21.12 [77ba4419] NaNMath v1.1.4 [538bc3a1] NamedTrajectories v0.9.1 [be0214bd] NonlinearSolveBase v2.31.0 ⌅ [bac558e1] OrderedCollections v1.8.2 [bbf590c4] OrdinaryDiffEqCore v4.3.0 [b1df2697] OrdinaryDiffEqTsit5 v2.0.1 [69de0a69] Parsers v2.8.6 [d236fae5] PreallocationTools v1.2.0 [aea7be01] PrecompileTools v1.3.4 [21216c6a] Preferences v1.5.2 [3cdcf5f2] RecipesBase v1.3.4 [731186ca] RecursiveArrayTools v4.3.1 [189a3867] Reexport v1.2.2 [ae029012] Requires v1.3.1 [295af30f] Revise v3.15.1 [7e49a35a] RuntimeGeneratedFunctions v0.5.19 [0bca4576] SciMLBase v3.21.0 [19f34311] SciMLJacobianOperators v0.1.13 [a6db7da4] SciMLLogging v2.0.0 [c0aeaf25] SciMLOperators v1.22.0 [431bcebd] SciMLPublic v1.0.1 [53ae85a6] SciMLStructures v1.10.0 [7e506255] ScopedValues v1.6.2 [efcf1570] Setfield v1.1.2 [ff4d7338] SolverCore v0.3.10 [276daf66] SpecialFunctions v2.8.0 [90137ffa] StaticArrays v1.9.18 [1e83bf80] StaticArraysCore v1.4.4 [10745b16] Statistics v1.11.1 [ec057cc2] StructUtils v2.8.2 [2efcf032] SymbolicIndexingInterface v0.3.48 [f8b46487] TestItemRunner v1.1.5 [1c621080] TestItems v1.0.0 [a759f4b9] TimerOutputs v0.5.29 [6dad8b7f] TrajectoryIndexingUtils v0.1.0 [3bb67fe8] TranscodingStreams v0.11.3 [781d530d] TruncatedStacktraces v1.4.0 [ae81ac8f] ASL_jll v0.1.3+0 [6e34b625] Bzip2_jll v1.0.9+0 [e33a78d0] Hwloc_jll v2.13.0+1 ⌅ [9cc047cb] Ipopt_jll v300.1400.1901+0 [94ce4f54] Libiconv_jll v1.18.0+0 [d00139f3] METIS_jll v5.1.3+0 ⌅ [d7ed1dd3] MUMPS_seq_jll v500.800.200+0 [656ef2d0] OpenBLAS32_jll v0.3.33+1 [efe28fd5] OpenSpecFun_jll v0.5.6+0 [319450e9] SPRAL_jll v2025.9.18+0 ⌅ [02c8fc9c] XML2_jll v2.13.9+0 [a65dc6b1] Xorg_libpciaccess_jll v0.19.0+0 [0dad84c5] ArgTools v1.2.0 [56f22d72] Artifacts v1.11.0 [2a0f44e3] Base64 v1.11.0 [8bf52ea8] CRC32c v1.11.0 [ade2ca70] Dates v1.11.0 [8ba89e20] Distributed v1.11.0 [f43a241f] Downloads v1.7.0 [7b1f6079] FileWatching v1.11.0 [9fa8497b] Future v1.11.0 [b77e0a4c] InteractiveUtils v1.11.0 [ac6e5ff7] JuliaSyntaxHighlighting v1.13.0 [b27032c2] LibCURL v1.0.0 [76f85450] LibGit2 v1.11.0 [8f399da3] Libdl v1.11.0 [37e2e46d] LinearAlgebra v1.14.0 [56ddb016] Logging v1.11.0 [d6f4376e] Markdown v1.11.0 [a63ad114] Mmap v1.11.0 [ca575930] NetworkOptions v1.3.0 [44cfe95a] Pkg v1.14.0 [de0858da] Printf v1.11.0 [3fa0cd96] REPL v1.11.0 [9a3f8284] Random v1.11.0 [ea8e919c] SHA v1.13.0 [9e88b42a] Serialization v1.11.0 [6462fe0b] Sockets v1.11.0 [2f01184e] SparseArrays v1.13.0 [f489334b] StyledStrings v1.13.0 [4607b0f0] SuiteSparse [fa267f1f] TOML v1.0.3 [a4e569a6] Tar v1.10.0 [8dfed614] Test v1.11.0 [cf7118a7] UUIDs v1.11.0 [4ec0a83e] Unicode v1.11.0 [e66e0078] CompilerSupportLibraries_jll v1.5.3+0 [deac9b47] LibCURL_jll v8.20.0+1 [e37daf67] LibGit2_jll v1.9.4+0 [29816b5a] LibSSH2_jll v1.11.101+0 [14a3606d] MozillaCACerts_jll v2026.5.14 [4536629a] OpenBLAS_jll v0.3.33+0 [05823500] OpenLibm_jll v0.8.7+0 [458c3c95] OpenSSL_jll v3.5.7+0 [efcefdf7] PCRE2_jll v10.47.0+0 [bea87d4a] SuiteSparse_jll v7.10.1+0 [83775a58] Zlib_jll v1.3.2+0 [3161d3a3] Zstd_jll v1.5.7+1 [8e850b90] libblastrampoline_jll v5.15.0+0 [8e850ede] nghttp2_jll v1.69.0+0 [3f19e933] p7zip_jll v17.8.0+0 Info Packages marked with ⌃ and ⌅ have new versions available. Those with ⌃ may be upgradable, but those with ⌅ are restricted by compatibility constraints from upgrading. Testing Running tests... initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 1.384s integrator 2 jacobian structure: 0.039s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (1.453s) integrator 1 hessian structure: 0.035s integrator 2 hessian structure: 0.034s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 1.825s sub-objective 2 (QuadraticRegularizer): 1.658s sub-objective 3 (MinimumTimeObjective): 0.015s objective hessian structure: 3.565s hessian structure: 1749 nonzeros (3.634s) linear index maps built (0.0s) evaluator ready (total: 5.465s) evaluator created (10.607s) NL constraint bounds extracted (0.1s) NLP block data built (0.0s) Ipopt optimizer configured (0.37s) variables set (0.967s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (3.203s) optimizer initialization complete (total: 15.34s) ****************************************************************************** This program contains Ipopt, a library for large-scale nonlinear optimization. Ipopt is released as open source code under the Eclipse Public License (EPL). For more information visit https://github.com/coin-or/Ipopt ****************************************************************************** This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6996404e+00 4.54e+00 3.62e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8869127e+00 7.88e-01 2.17e+00 -0.9 2.63e+00 0.0 1.00e+00 8.28e-01f 1 2 4.1297235e+00 5.93e-01 3.86e+00 0.7 1.52e+01 -0.5 9.99e-02 7.12e-02f 1 3 3.3710943e+00 2.43e-01 2.94e+00 -0.3 9.04e-01 -0.1 8.17e-01 6.08e-01f 1 4 2.7928623e+00 4.57e-02 1.09e+01 -0.9 3.16e-01 0.4 5.55e-01 1.00e+00f 1 5 2.6981872e+00 7.10e-03 1.73e+00 -4.0 1.43e-01 -0.1 5.58e-01 1.00e+00h 1 6 2.5622993e+00 2.87e-03 2.93e-01 -1.3 1.01e-01 -0.6 1.00e+00 6.13e-01H 1 7 2.2401719e+00 1.97e-02 9.96e-02 -1.7 2.85e-01 -1.1 8.85e-01 1.00e+00f 1 8 2.1109844e+00 2.59e-03 3.89e-02 -2.7 1.22e-01 -1.5 8.99e-01 1.00e+00h 1 9 2.0915263e+00 4.69e-05 7.10e-04 -4.0 1.44e-02 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908592e+00 1.21e-06 3.86e-05 -4.0 1.19e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908580e+00 4.34e-09 2.06e-05 -4.0 1.90e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908524e+00 1.22e-09 2.06e-05 -4.0 5.70e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908356e+00 1.10e-08 2.06e-05 -4.0 1.71e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0907851e+00 9.92e-08 2.06e-05 -4.0 5.12e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0906341e+00 8.95e-07 2.06e-05 -4.0 1.54e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901821e+00 8.10e-06 3.62e-05 -4.0 4.59e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0888374e+00 7.43e-05 3.23e-04 -4.0 1.37e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0849090e+00 7.05e-04 2.95e-03 -4.0 3.99e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0796260e+00 2.05e-03 1.86e-01 -4.0 1.03e+02 -6.8 1.00e+00 5.14e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0801699e+00 1.30e-04 1.71e-01 -4.0 6.55e+01 -7.3 1.00e+00 9.97e-01H 1 21 2.0773724e+00 8.31e-03 2.41e-02 -4.0 1.25e+02 -7.7 1.00e+00 9.60e-01h 1 22 2.0770739e+00 1.92e-03 6.22e-02 -4.0 2.09e+02 -8.2 1.00e+00 1.00e+00h 1 23 2.0760685e+00 4.34e-03 2.09e-02 -4.0 3.50e+02 -8.7 1.00e+00 9.14e-01h 1 24 2.0768562e+00 3.15e-02 2.66e-02 -3.7 3.01e+02 -9.2 1.00e+00 1.00e+00h 1 25 2.0764489e+00 8.58e-03 4.58e-03 -3.8 1.15e+02 -9.6 1.00e+00 1.00e+00h 1 26 2.0764285e+00 1.60e-04 1.02e-04 -3.8 2.49e+01 -10.1 1.00e+00 1.00e+00h 1 27 2.0756777e+00 1.73e-03 5.68e-06 -4.0 3.09e+01 -10.6 1.00e+00 1.00e+00h 1 28 2.0756712e+00 6.33e-06 1.40e-06 -4.0 2.16e+01 -11.1 1.00e+00 1.00e+00h 1 29 2.0756712e+00 3.61e-09 1.48e-07 -4.0 4.87e+00 -11.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 4.40e-11 1.63e-09 -4.0 6.53e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 30 (scaled) (unscaled) Objective...............: 2.0756712121479257e+00 2.0756712121479257e+00 Dual infeasibility......: 1.6328814554829318e-09 1.6328814554829318e-09 Constraint violation....: 4.3997472332080179e-11 4.3997472332080179e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000015e-04 1.0000000000000015e-04 Overall NLP error.......: 1.6328814554829318e-09 1.6328814554829318e-09 Number of objective function evaluations = 33 Number of objective gradient evaluations = 31 Number of equality constraint evaluations = 33 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 31 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 30 Total seconds in IPOPT = 63.504 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.128s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.128s) linear index maps built (0.0s) evaluator ready (total: 0.187s) evaluator created (0.188s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.161s) optimizer initialization complete (total: 0.349s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1488 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1524 Total number of variables............................: 100 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8643701e+00 1.76e+00 3.97e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.5723829e+00 9.66e-02 4.86e+00 -0.9 1.82e+00 0.0 5.31e-01 9.50e-01f 1 2 2.4860240e+00 1.74e-02 1.38e+00 -0.9 2.60e-01 0.4 9.94e-01 1.00e+00h 1 3 2.3841399e+00 1.27e-02 9.03e-01 -1.3 1.79e-01 -0.1 9.78e-01 9.58e-01f 1 4 2.2675603e+00 5.77e-03 3.90e-01 -1.8 1.39e-01 -0.5 9.90e-01 5.28e-01f 1 5 2.1251676e+00 2.03e-03 1.73e-01 -2.8 1.53e-01 -1.0 1.00e+00 9.38e-01h 1 6 2.1022277e+00 9.16e-04 1.87e-01 -4.0 2.58e-01 -1.5 1.00e+00 5.49e-01h 1 7 2.0928613e+00 3.39e-04 2.09e-01 -4.0 2.38e-01 -2.0 1.00e+00 6.30e-01h 1 8 2.0909225e+00 2.90e-05 4.60e-02 -4.0 6.74e-02 -2.4 1.00e+00 1.00e+00h 1 9 2.0909051e+00 6.41e-07 5.26e-05 -4.0 2.38e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909004e+00 1.23e-07 5.34e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908855e+00 1.00e-08 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908407e+00 7.87e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907063e+00 7.09e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903043e+00 6.42e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891070e+00 5.87e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0855975e+00 5.54e-04 2.31e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796374e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.29e-01h 1 18 2.0807369e+00 1.62e-04 1.82e-01 -4.0 6.59e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775356e+00 7.48e-03 2.45e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769130e+00 1.11e-03 4.87e-02 -4.0 1.76e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0760209e+00 1.07e-03 2.36e-02 -4.0 3.09e+02 -8.6 1.00e+00 1.00e+00h 1 22 2.0754481e+00 5.03e-04 3.06e-02 -4.0 4.73e+02 -9.1 1.00e+00 7.22e-01H 1 23 2.0757782e+00 2.21e-03 1.08e-02 -4.0 1.43e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0753830e+00 1.40e-03 4.96e-04 -4.1 7.90e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756722e+00 3.98e-04 6.93e-06 -4.0 1.82e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0753425e+00 6.32e-04 7.84e-07 -4.1 2.59e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756725e+00 3.34e-04 8.15e-07 -4.0 1.36e+01 -11.5 1.00e+00 1.00e+00h 1 28 2.0753425e+00 5.01e-04 2.62e-07 -4.1 2.05e+01 -12.0 1.00e+00 1.00e+00h 1 29 2.0756725e+00 5.53e-04 1.18e-07 -4.0 2.26e+01 -12.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0753425e+00 5.53e-04 9.06e-08 -4.1 2.26e+01 -12.9 1.00e+00 1.00e+00h 1 31 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -13.4 9.28e-01 1.00e+00h 1 32 2.0757517e+00 1.59e-01 1.53e-04 -4.0 1.29e+03 -13.9 1.00e+00 1.00e+00h 1 33 2.0753574e+00 2.64e-02 8.69e-05 -4.1 1.05e+03 -14.4 1.00e+00 1.00e+00h 1 34 2.0753474e+00 1.15e-05 2.14e-06 -4.1 1.63e+02 -14.8 1.00e+00 1.00e+00h 1 35 2.0756726e+00 7.25e-04 1.64e-07 -4.0 3.02e+01 -15.3 1.00e+00 1.00e+00h 1 36 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -15.8 1.00e+00 1.00e+00h 1 37 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -16.3 9.28e-01 1.00e+00h 1 38 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -16.8 8.16e-01 1.00e+00h 1 39 2.0742914e+00 4.02e-02 1.95e-02 -4.0 1.50e+04 -17.2 1.00e+00 1.46e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0748877e+00 5.32e-02 4.44e-05 -4.3 1.16e+03 -17.7 1.00e+00 1.00e+00h 1 41 2.0748919e+00 7.80e-04 1.27e-05 -4.3 8.19e+02 -18.2 1.00e+00 1.00e+00h 1 42 2.0756799e+00 8.81e-03 2.72e-06 -4.0 1.52e+02 -18.7 1.00e+00 1.00e+00h 1 43 2.0753438e+00 1.84e-03 6.19e-07 -4.1 7.48e+01 -19.1 1.00e+00 1.00e+00h 1 44 2.0753420e+00 1.03e-06 2.13e-08 -4.1 1.76e+01 -19.6 1.00e+00 1.00e+00h 1 45 2.0756726e+00 7.23e-04 1.61e-07 -4.0 2.96e+01 -20.0 1.00e+00 1.00e+00h 1 46 2.0753425e+00 5.85e-04 1.22e-07 -4.1 2.39e+01 -20.0 1.00e+00 1.00e+00h 1 47 2.0740265e+00 1.15e-02 5.49e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 48 2.0739728e+00 7.97e-04 3.00e-04 -6.1 8.48e+02 -20.0 8.16e-01 1.00e+00h 1 49 2.0739622e+00 1.34e-06 1.83e-05 -6.1 8.40e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0741067e+00 2.44e-02 3.22e-02 -4.0 5.48e+04 -20.0 1.00e+00 5.98e-02f 1 51 2.0748071e+00 7.96e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 52 2.0748241e+00 9.52e-04 1.02e-05 -4.3 6.22e+02 -20.0 1.00e+00 1.00e+00h 1 53 2.0748237e+00 1.04e-07 2.35e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 54 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 55 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 56 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 57 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 58 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 59 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0741065e+00 2.43e-02 3.23e-02 -4.0 5.49e+04 -20.0 1.00e+00 5.97e-02f 1 61 2.0748071e+00 7.95e-02 4.43e-05 -4.3 1.56e+03 -20.0 1.00e+00 1.00e+00f 1 62 2.0748240e+00 9.52e-04 1.02e-05 -4.3 6.21e+02 -20.0 1.00e+00 1.00e+00h 1 63 2.0748236e+00 1.04e-07 2.36e-07 -4.3 7.05e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0756822e+00 1.19e-02 4.06e-06 -4.0 1.89e+02 -20.0 1.00e+00 1.00e+00f 1 65 2.0753442e+00 2.32e-03 9.16e-07 -4.1 9.41e+01 -20.0 1.00e+00 1.00e+00h 1 66 2.0753423e+00 1.29e-06 3.41e-08 -4.1 2.19e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0740263e+00 1.14e-02 5.44e-04 -6.1 1.18e+02 -20.0 9.28e-01 1.00e+00h 1 68 2.0739727e+00 7.90e-04 2.95e-04 -6.1 8.42e+02 -20.0 8.17e-01 1.00e+00h 1 69 2.0739622e+00 1.34e-06 1.82e-05 -6.1 8.42e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0739617e+00 2.11e-08 1.94e-06 -6.1 2.49e+02 -20.0 1.00e+00 1.00e+00h 1 71 2.0740871e+00 2.06e-02 3.56e-02 -4.0 6.55e+04 -20.0 1.00e+00 5.03e-02f 1 72 2.0748016e+00 7.32e-02 4.77e-05 -4.3 1.41e+03 -20.0 1.00e+00 1.00e+00f 1 73 2.0748204e+00 9.23e-04 8.08e-06 -4.3 5.36e+02 -20.0 1.00e+00 1.00e+00h 1 74 2.0748200e+00 1.25e-07 3.57e-07 -4.3 7.03e+01 -20.0 1.00e+00 1.00e+00h 1 75 2.0740036e+00 1.08e-02 5.23e-04 -6.5 1.81e+02 -20.0 8.93e-01 1.00e+00f 1 76 2.0739632e+00 2.51e-04 3.38e-04 -6.5 7.34e+02 -20.0 7.62e-01 1.00e+00h 1 77 2.0739539e+00 4.81e-07 1.83e-05 -6.5 9.12e+02 -20.0 1.00e+00 1.00e+00h 1 78 2.0740681e+00 1.80e-02 3.75e-02 -4.0 7.10e+04 -20.0 1.00e+00 4.51e-02f 1 79 2.0747866e+00 7.58e-02 5.27e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0748068e+00 8.84e-04 6.22e-06 -4.3 4.91e+02 -20.0 1.00e+00 1.00e+00h 1 81 2.0748064e+00 1.21e-07 3.63e-07 -4.3 6.91e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 83 2.0739630e+00 2.41e-04 3.38e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 84 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 85 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 86 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 87 2.0748064e+00 8.81e-04 6.11e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 88 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 89 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 91 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 92 2.0740672e+00 1.78e-02 3.77e-02 -4.0 7.15e+04 -20.0 1.00e+00 4.47e-02f 1 93 2.0747861e+00 7.57e-02 5.30e-05 -4.3 1.46e+03 -20.0 1.00e+00 1.00e+00f 1 94 2.0748064e+00 8.81e-04 6.10e-06 -4.3 4.87e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0748060e+00 1.21e-07 3.66e-07 -4.3 6.90e+01 -20.0 1.00e+00 1.00e+00h 1 96 2.0740030e+00 1.08e-02 5.21e-04 -6.5 1.84e+02 -20.0 8.91e-01 1.00e+00f 1 97 2.0739630e+00 2.40e-04 3.37e-04 -6.5 7.30e+02 -20.0 7.61e-01 1.00e+00h 1 98 2.0739537e+00 4.65e-07 1.83e-05 -6.5 9.15e+02 -20.0 1.00e+00 1.00e+00h 1 99 2.0739527e+00 5.48e-08 5.24e-06 -6.5 3.94e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0740476e+00 1.42e-02 4.44e-02 -4.0 9.26e+04 -20.0 1.00e+00 3.50e-02f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0740476226011366e+00 2.0740476226011366e+00 Dual infeasibility......: 4.4440948322914557e-02 4.4440948322914557e-02 Constraint violation....: 1.4164404722578183e-02 1.4164404722578183e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 2.3095644031728767e-04 2.3095644031728767e-04 Overall NLP error.......: 4.4440948322914557e-02 4.4440948322914557e-02 Number of objective function evaluations = 103 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 103 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 24.265 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.054s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.111s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.047s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.347s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (MinimumTimeObjective): 0.017s objective hessian structure: 0.551s hessian structure: 1749 nonzeros (0.648s) linear index maps built (0.0s) evaluator ready (total: 0.76s) evaluator created (0.799s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (4.595s) optimizer initialization complete (total: 5.515s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.1772966e+00 3.78e+00 7.01e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6670022e+00 5.35e-02 2.16e+00 -1.0 2.16e+00 0.0 1.00e+00 1.00e+00h 1 2 2.6243158e+00 2.77e-02 1.35e+00 -0.7 2.50e-01 0.4 7.90e-01 6.39e-01f 1 3 2.6201425e+00 3.43e-03 3.77e-01 -1.3 1.29e-01 -0.1 9.83e-01 1.00e+00f 1 4 2.3153884e+00 2.69e-03 1.52e-01 -1.8 1.10e-01 -0.5 9.61e-01 7.32e-01f 1 5 2.1226618e+00 2.03e-03 3.69e-02 -2.9 1.07e-01 -1.0 9.99e-01 8.09e-01f 1 6 2.0919596e+00 5.77e-05 6.45e-03 -3.8 8.28e-03 -1.5 9.97e-01 9.71e-01h 1 7 2.0909149e+00 6.43e-07 9.37e-05 -4.0 3.34e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909164e+00 9.30e-09 2.20e-05 -4.0 6.01e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0909148e+00 1.07e-10 2.06e-05 -4.0 1.69e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909098e+00 9.68e-10 2.06e-05 -4.0 5.07e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908948e+00 8.72e-09 2.06e-05 -4.0 1.52e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908500e+00 7.85e-08 2.06e-05 -4.0 4.56e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907157e+00 7.08e-07 2.06e-05 -4.0 1.37e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0903136e+00 6.40e-06 2.86e-05 -4.0 4.09e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0891162e+00 5.86e-05 2.55e-04 -4.0 1.22e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0856065e+00 5.53e-04 2.30e-03 -4.0 3.57e+01 -6.3 1.00e+00 1.00e+00h 1 17 2.0796329e+00 2.30e-03 1.36e-01 -4.0 9.56e+01 -6.7 1.00e+00 6.30e-01h 1 18 2.0807137e+00 1.38e-04 1.75e-01 -4.0 6.76e+01 -7.2 1.00e+00 1.00e+00H 1 19 2.0775294e+00 6.99e-03 2.33e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0769429e+00 1.20e-03 4.74e-02 -4.0 1.87e+02 -8.2 1.00e+00 1.00e+00h 1 21 2.0762353e+00 1.22e-03 2.62e-02 -4.0 3.35e+02 -8.6 1.00e+00 7.41e-01h 1 22 2.0755029e+00 2.76e-03 3.12e-02 -4.0 5.85e+02 -9.1 1.00e+00 7.41e-01h 1 23 2.0757993e+00 3.07e-03 1.65e-02 -4.0 1.74e+02 -9.6 1.00e+00 1.00e+00h 1 24 2.0756800e+00 4.58e-04 7.83e-04 -4.0 9.04e+01 -10.1 1.00e+00 1.00e+00h 1 25 2.0756713e+00 3.00e-06 1.26e-05 -4.0 2.31e+01 -10.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 7.73e-08 1.29e-06 -4.0 1.40e+01 -11.0 1.00e+00 1.00e+00h 1 27 2.0756712e+00 2.62e-09 1.09e-07 -4.0 4.59e+00 -11.5 1.00e+00 1.00e+00h 1 28 2.0756712e+00 4.64e-11 1.82e-09 -4.0 7.28e-01 -12.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 28 (scaled) (unscaled) Objective...............: 2.0756712121656276e+00 2.0756712121656276e+00 Dual infeasibility......: 1.8216837251183466e-09 1.8216837251183466e-09 Constraint violation....: 4.6419423860299958e-11 4.6419423860299958e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000040e-04 1.0000000000000040e-04 Overall NLP error.......: 1.8216837251183466e-09 1.8216837251183466e-09 Number of objective function evaluations = 30 Number of objective gradient evaluations = 29 Number of equality constraint evaluations = 30 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 29 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 28 Total seconds in IPOPT = 36.955 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.063s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.114s) evaluator created (0.114s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: per-timestep equality constraint on trajectory variable du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.114s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1360 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1280 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 3.0192315e+00 3.90e+00 4.78e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3023194e+00 2.86e+00 4.54e+00 -1.5 2.53e+01 -2.0 1.04e-01 2.71e-01h 1 2 2.3494355e+00 1.64e+00 5.85e+02 -0.6 7.16e+01 -2.5 8.29e-02 4.09e-01f 1 3 2.5230305e+00 1.55e+00 4.29e+02 -4.0 2.40e+01 -3.0 1.38e-01 2.79e-01h 1 4 2.6623649e+00 1.71e+00 3.97e+02 -0.1 5.62e+01 -1.6 1.03e-01 7.55e-02f 1 5 2.7307110e+00 1.04e+00 2.46e+02 -0.8 8.03e+00 -2.1 4.06e-01 3.93e-01h 1 6 2.5044096e+00 1.43e+00 1.22e+02 -1.0 1.23e+01 -2.6 1.00e+00 5.06e-01f 1 7 2.5758606e+00 8.59e-01 9.67e+00 -0.9 1.28e+01 -3.1 7.77e-01 1.00e+00h 1 8 2.5651413e+00 8.17e-01 9.63e+00 -4.0 1.63e+01 -2.6 1.76e-01 4.83e-02h 1 9 2.5119594e+00 5.94e-01 1.69e+01 -1.3 4.61e+00 -2.2 1.00e+00 2.67e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.4783612e+00 3.85e-01 2.99e+01 -0.7 2.26e+01 -2.7 9.41e-01 3.69e-01h 1 11 2.3838585e+00 2.25e-01 2.04e+01 -1.0 2.66e+01 -3.2 1.00e+00 1.00e+00f 1 12 2.3388728e+00 6.53e-02 1.81e+00 -1.8 6.28e+00 -2.7 8.63e-01 1.00e+00h 1 13 2.3406759e+00 1.85e-04 1.43e+00 -2.2 9.28e-02 -0.5 1.00e+00 1.00e+00h 1 14 2.3350459e+00 1.81e-04 1.95e+00 -2.3 3.92e-01 -1.0 1.00e+00 6.22e-02h 2 15 2.2907950e+00 1.63e-02 4.98e-01 -2.7 1.78e+00 -1.5 1.00e+00 2.76e-01f 1 16 2.2797993e+00 5.12e-04 3.70e-01 -3.0 6.09e-01 -1.9 9.99e-01 1.00e+00h 1 17 2.2692715e+00 6.10e-03 5.79e-02 -3.1 9.73e-01 -2.4 1.00e+00 1.00e+00h 1 18 2.2529114e+00 2.95e-02 1.03e-02 -4.0 2.33e+00 -2.9 1.00e+00 1.00e+00h 1 19 2.2323053e+00 8.45e-02 4.55e-02 -3.4 4.46e+00 -3.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.2060655e+00 1.57e-01 5.83e-02 -3.7 7.45e+00 -3.8 9.99e-01 1.00e+00h 1 21 2.1772988e+00 2.26e-01 7.45e-02 -4.0 1.16e+01 -4.3 1.00e+00 1.00e+00h 1 22 2.1522149e+00 2.80e-01 9.00e-02 -3.2 1.75e+01 -4.8 1.00e+00 1.00e+00h 1 23 2.1295412e+00 3.26e-01 1.09e-01 -3.5 2.77e+01 -5.3 1.00e+00 1.00e+00h 1 24 2.1113618e+00 3.65e-01 1.19e-01 -3.8 4.35e+01 -5.7 1.00e+00 1.00e+00h 1 25 2.0986767e+00 4.87e-01 1.64e-01 -3.2 1.02e+02 -6.2 1.00e+00 1.00e+00h 1 26 2.0920359e+00 9.83e-02 2.95e-01 -4.0 3.09e+01 -5.8 6.18e-01 1.00e+00h 1 27 2.0901042e+00 5.51e-02 2.13e-01 -4.0 5.14e+01 -6.3 9.54e-01 3.56e-01h 1 28 2.0898515e+00 5.25e-02 4.93e-01 -3.5 6.90e+01 -5.9 8.36e-01 5.71e-02h 1 29 2.0968811e+00 2.91e-02 2.13e+00 -3.2 1.47e+02 -6.3 1.00e+00 5.63e-01H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0863550e+00 1.87e-01 3.49e-01 -3.8 1.01e+02 -6.8 1.00e+00 1.00e+00h 1 31 2.0888690e+00 1.21e-01 8.02e-02 -3.1 8.24e+01 -7.3 1.00e+00 1.00e+00h 1 32 2.0861956e+00 3.08e-02 7.89e-03 -3.2 4.18e+01 -7.8 1.00e+00 1.00e+00h 1 33 2.0800469e+00 7.71e-02 5.51e-03 -3.9 1.47e+02 -8.2 1.00e+00 9.98e-01h 1 34 2.0791453e+00 1.85e-02 7.96e-03 -4.0 3.81e+02 -8.7 1.00e+00 1.00e+00h 1 35 2.0804370e+00 1.70e-01 2.95e-02 -3.5 7.66e+02 -9.2 1.00e+00 9.67e-01h 1 36 2.0801757e+00 5.30e-02 3.20e-02 -3.6 3.91e+02 -9.7 1.00e+00 1.00e+00h 1 37 2.0800353e+00 5.26e-03 1.98e-03 -3.6 1.58e+02 -10.1 1.00e+00 1.00e+00h 1 38 2.0782317e+00 2.11e-02 1.65e-04 -4.0 1.40e+02 -10.6 1.00e+00 1.00e+00h 1 39 2.0782489e+00 5.47e-05 8.33e-06 -4.0 5.10e+01 -11.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0782483e+00 1.39e-08 5.94e-07 -4.0 8.97e+00 -11.6 1.00e+00 1.00e+00h 1 41 2.0782483e+00 7.33e-11 2.26e-09 -4.0 5.52e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 41 (scaled) (unscaled) Objective...............: 2.0782482740192463e+00 2.0782482740192463e+00 Dual infeasibility......: 2.2646606866270208e-09 2.2646606866270208e-09 Constraint violation....: 7.3272055090001231e-11 7.3272055090001231e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000318e-04 1.0000000000000318e-04 Overall NLP error.......: 2.2646606866270208e-09 2.2646606866270208e-09 Number of objective function evaluations = 47 Number of objective gradient evaluations = 42 Number of equality constraint evaluations = 47 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 42 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 41 Total seconds in IPOPT = 24.927 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.059s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.111s) evaluator created (0.111s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: bounds on Δt applying constraint: per-timestep equality constraint on trajectory variable u linear constraints added: 3 (0.05s) optimizer initialization complete (total: 0.162s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1264 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1113 Total number of variables............................: 86 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.6713616e+00 2.81e+00 5.04e-02 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 8.5627995e+00 1.04e+00 1.41e+01 -0.8 9.18e+00 - 9.83e-01 1.00e+00h 1 2 6.0944279e+00 4.23e-01 1.76e+03 -0.6 8.96e+00 0.0 1.00e+00 8.40e-01f 1 3 7.5678849e+00 2.99e-01 2.81e+03 -0.4 4.40e+01 -0.5 1.00e+00 2.39e-01h 3 4 9.2676687e+00 3.44e-01 8.78e+02 0.2 8.39e+00 -1.0 1.00e+00 5.00e-01h 2 5 9.2611618e+00 3.63e-01 9.69e+02 0.6 9.88e+00 -1.4 1.00e+00 8.63e-02f 3 6 9.5726461e+00 3.22e-01 8.23e+02 -4.0 2.44e+01 -1.9 2.68e-01 1.12e-01h 4 7 1.1260082e+01 7.77e-01 1.87e+02 -0.2 8.79e+00 -1.5 9.99e-01 1.00e+00h 1 8 9.1111906e+00 7.67e-01 1.84e+02 -4.0 3.36e+02 -2.0 4.83e-03 1.29e-02f 1 9 9.3707359e+00 2.45e+00 1.30e+02 -0.3 4.11e+01 -2.4 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 7.8813585e+00 1.60e+00 6.63e+01 -0.3 2.26e+00 -0.2 3.56e-01 3.25e-01h 1 11 7.8546531e+00 1.58e+00 1.70e+03 -0.3 6.91e+00 -0.7 8.50e-01 1.06e-02h 1 12 8.3922229e+00 6.45e-01 1.05e+04 -0.3 1.11e+02 -1.2 6.05e-01 2.71e-01H 1 13 1.1900145e+01 5.21e-01 1.06e+04 -0.3 8.16e+02 - 3.83e-02 1.15e-01h 3 14 1.2312988e+01 4.77e-01 3.71e+03 -0.3 3.28e+02 - 4.50e-01 1.25e-01h 4 15 1.5522238e+01 5.46e-01 2.09e+02 -0.3 3.22e+01 - 8.07e-02 5.00e-01h 2 16 6.4376465e+00 1.57e+00 5.42e+01 -0.3 1.94e+01 - 8.06e-01 1.00e+00f 1 17 8.3966203e+00 7.08e-01 1.22e+02 -0.3 1.04e+01 -1.6 1.00e+00 1.00e+00h 1 18 7.7080703e+00 1.82e+00 2.04e+01 0.0 1.36e+01 - 1.00e+00 1.00e+00f 1 19 5.8785036e+00 6.22e-01 5.51e+00 -0.1 2.11e+00 -0.3 5.65e-01 5.97e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 5.5869793e+00 3.33e-01 1.89e+02 -0.1 2.94e+02 - 1.02e-01 9.47e-02f 2 21 6.0964254e+00 2.85e-01 8.47e+01 0.1 1.16e+01 -0.8 1.00e+00 1.36e-01h 3 22 7.1370698e+00 6.27e-01 3.97e+01 0.0 1.07e+01 -1.3 7.93e-01 1.00e+00H 1 23 7.0890871e+00 4.47e-01 7.81e+01 0.0 1.08e+01 - 1.00e+00 1.00e+00h 1 24 6.7151506e+00 1.13e-01 1.71e+01 0.0 4.00e+00 - 1.00e+00 1.00e+00h 1 25 5.8878719e+00 3.14e-01 2.61e+00 -0.4 5.75e+00 - 9.13e-01 1.00e+00f 1 26 5.8352871e+00 4.50e-02 8.61e-01 -1.2 6.29e-01 - 9.77e-01 1.00e+00h 1 27 5.5164546e+00 1.63e-01 6.88e-01 -1.7 1.64e+00 - 8.96e-01 1.00e+00h 1 28 5.7470738e+00 1.43e-02 2.37e-01 -2.2 1.15e+00 - 9.75e-01 1.00e+00h 1 29 5.7307265e+00 2.05e-03 6.65e-03 -3.5 9.65e-02 - 9.97e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 5.7327917e+00 4.16e-04 1.38e-03 -4.0 3.96e-02 - 1.00e+00 1.00e+00h 1 31 5.7332344e+00 2.64e-05 8.40e-05 -4.0 9.84e-03 - 1.00e+00 1.00e+00h 1 32 5.7332650e+00 1.25e-07 3.98e-07 -4.0 6.76e-04 - 1.00e+00 1.00e+00h 1 33 5.7332651e+00 1.37e-11 4.35e-11 -4.0 7.37e-06 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 33 (scaled) (unscaled) Objective...............: 5.7332651305295883e+00 5.7332651305295883e+00 Dual infeasibility......: 4.3517415365679213e-11 4.3517415365679213e-11 Constraint violation....: 1.3673395748980965e-11 1.3673395748980965e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000001746430381e-04 1.0000001746430381e-04 Overall NLP error.......: 4.3517415365679213e-11 4.3517415365679213e-11 Number of objective function evaluations = 69 Number of objective gradient evaluations = 34 Number of equality constraint evaluations = 69 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 34 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 33 Total seconds in IPOPT = 24.378 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.109s) evaluator created (0.109s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: equality constraint on global variable g applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.0s) optimizer initialization complete (total: 0.111s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.4451310e+00 2.96e+00 2.87e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.1992922e+00 1.86e+00 1.60e+00 -1.0 1.96e+00 0.0 7.47e-01 3.73e-01f 1 2 2.4718182e+00 7.53e-02 1.49e+00 -1.0 1.24e+00 -0.5 9.37e-01 9.99e-01f 1 3 2.6918057e+00 1.08e-02 7.21e-01 -1.1 3.20e-01 -1.0 9.85e-01 1.00e+00f 1 4 2.3365677e+00 1.53e-02 1.55e-01 -1.5 2.63e-01 -1.4 9.43e-01 7.66e-01h 1 5 2.1188836e+00 9.28e-03 6.36e-02 -2.5 2.44e-01 -1.9 9.93e-01 9.75e-01h 1 6 2.0933774e+00 1.98e-04 5.00e-03 -3.5 4.75e-02 -2.4 9.88e-01 1.00e+00h 1 7 2.0908568e+00 4.82e-06 1.61e-04 -4.0 1.53e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908508e+00 4.36e-08 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908375e+00 6.89e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0907977e+00 6.22e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0906783e+00 5.60e-07 2.06e-05 -4.0 1.21e+00 -4.8 1.00e+00 1.00e+00h 1 12 2.0903208e+00 5.07e-06 2.26e-05 -4.0 3.63e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0892556e+00 4.63e-05 2.02e-04 -4.0 1.08e+01 -5.7 1.00e+00 1.00e+00h 1 14 2.0861245e+00 4.35e-04 1.82e-03 -4.0 3.18e+01 -6.2 1.00e+00 1.00e+00h 1 15 2.0796209e+00 2.50e-03 8.74e-02 -4.0 8.72e+01 -6.7 1.00e+00 7.54e-01h 1 16 2.0812190e+00 1.26e-04 1.82e-01 -4.0 6.91e+01 -7.2 1.00e+00 1.00e+00H 1 17 2.0778225e+00 5.44e-03 2.48e-02 -4.0 1.12e+02 -7.6 1.00e+00 1.00e+00h 1 18 2.0782090e+00 1.70e-02 4.26e-02 -3.7 1.64e+02 -8.1 1.00e+00 1.00e+00h 1 19 2.0768167e+00 1.05e-02 2.26e-02 -3.8 3.06e+02 -8.6 1.00e+00 9.45e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0760416e+00 8.25e-03 2.43e-02 -3.9 4.42e+02 -9.1 1.00e+00 9.84e-01f 1 21 2.0757498e+00 9.14e-03 1.05e-02 -4.0 1.40e+02 -9.5 1.00e+00 1.00e+00h 1 22 2.0756799e+00 4.93e-04 4.23e-04 -4.0 5.99e+01 -10.0 1.00e+00 1.00e+00h 1 23 2.0756713e+00 5.03e-06 8.33e-06 -4.0 2.33e+01 -10.5 1.00e+00 1.00e+00h 1 24 2.0756712e+00 5.99e-08 1.52e-06 -4.0 1.52e+01 -11.0 1.00e+00 1.00e+00h 1 25 2.0756712e+00 3.61e-09 1.54e-07 -4.0 5.32e+00 -11.5 1.00e+00 1.00e+00h 1 26 2.0756712e+00 8.01e-11 3.12e-09 -4.0 9.40e-01 -11.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 2.0756712122099308e+00 2.0756712122099308e+00 Dual infeasibility......: 3.1239211083667218e-09 3.1239211083667218e-09 Constraint violation....: 8.0121465018123672e-11 8.0121465018123672e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000014e-04 1.0000000000000014e-04 Overall NLP error.......: 3.1239211083667218e-09 3.1239211083667218e-09 Number of objective function evaluations = 28 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 24.282 EXIT: Optimal Solution Found. Difference in Jacobian ┌ Error: Invalid options argument (an instance of String, not a subtype of AbstractSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:78 ┌ Error: No solver backend with matching options argument type (an instance of Main.var"##171"._FakeSolverOptions) └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:122 initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.057s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.105s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (1.993s) optimizer initialization complete (total: 2.098s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1538 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 82 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.2101771e+00 2.61e+00 3.41e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9491937e+00 1.69e-02 9.59e-01 -1.0 1.91e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3536840e+00 3.08e-02 5.75e-02 -1.6 3.74e-01 -1.6 9.73e-01 1.00e+00h 1 3 2.1424024e+00 4.38e-03 2.81e-01 -3.4 1.80e-01 -1.1 8.68e-01 9.98e-01h 1 4 2.0992718e+00 3.92e-03 1.36e-01 -4.0 2.48e-01 -1.6 9.99e-01 8.88e-01h 1 5 2.0911310e+00 7.44e-04 3.06e-01 -4.0 5.26e-01 -2.1 1.00e+00 8.53e-01h 1 6 2.0907253e+00 4.51e-05 1.15e-01 -4.0 3.08e-01 -2.6 1.00e+00 8.69e-01h 1 7 2.0909335e+00 1.39e-05 6.75e-03 -4.0 8.88e-02 -3.1 1.00e+00 1.00e+00h 1 8 2.0909647e+00 1.09e-06 3.97e-05 -4.0 7.04e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0909442e+00 2.99e-08 2.06e-05 -4.0 2.11e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908825e+00 1.46e-07 2.05e-05 -4.0 6.31e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907004e+00 1.29e-06 4.95e-05 -4.0 1.87e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0901817e+00 1.09e-05 4.19e-04 -4.0 5.44e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0888405e+00 8.18e-05 3.15e-03 -4.0 1.49e+01 -5.9 1.00e+00 1.00e+00h 1 14 2.0861565e+00 4.39e-04 1.74e-02 -4.0 3.46e+01 -6.4 1.00e+00 1.00e+00h 1 15 2.0830889e+00 9.13e-04 4.70e-02 -4.0 5.32e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0828521e+00 9.31e-04 2.30e-02 -4.0 5.41e+01 -7.4 1.00e+00 1.00e+00h 1 17 2.0823436e+00 3.92e-04 1.01e-02 -4.0 1.11e+02 -7.8 1.00e+00 1.00e+00h 1 18 2.0820397e+00 9.69e-05 1.84e-02 -4.0 1.45e+02 -8.3 1.00e+00 1.00e+00h 1 19 2.0819518e+00 2.69e-04 8.63e-03 -4.0 9.90e+01 -8.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0819393e+00 3.67e-05 8.41e-04 -4.0 3.10e+01 -9.3 1.00e+00 1.00e+00h 1 21 2.0819383e+00 5.30e-07 1.38e-05 -4.0 4.44e+00 -9.7 1.00e+00 1.00e+00h 1 22 2.0819383e+00 9.77e-10 3.24e-08 -4.0 2.44e-01 -10.2 1.00e+00 1.00e+00h 1 23 2.0819383e+00 2.51e-13 1.21e-11 -4.0 4.58e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 23 (scaled) (unscaled) Objective...............: 2.0819382907190858e+00 2.0819382907190858e+00 Dual infeasibility......: 1.2088305969279803e-11 1.2088305969279803e-11 Constraint violation....: 2.5135449277513544e-13 2.5135449277513544e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000067e-04 1.0000000000000067e-04 Overall NLP error.......: 1.2088305969279803e-11 1.2088305969279803e-11 Number of objective function evaluations = 24 Number of objective gradient evaluations = 24 Number of equality constraint evaluations = 24 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 24 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 23 Total seconds in IPOPT = 24.721 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.048s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.054s) optimizer initialization complete (total: 0.158s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1528 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 77 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2672559e+00 3.24e+00 1.87e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 3.0195255e+00 2.58e-02 5.30e-01 -1.0 2.92e+00 -2.0 1.00e+00 1.00e+00f 1 2 2.3420850e+00 2.56e-02 5.69e-02 -1.8 4.17e-01 -1.6 9.63e-01 1.00e+00f 1 3 2.1351722e+00 1.98e-03 1.51e-01 -3.3 6.07e-02 -1.1 9.46e-01 9.14e-01h 1 4 2.0993724e+00 7.48e-04 1.84e-01 -3.9 1.53e-01 -1.6 1.00e+00 8.34e-01h 1 5 2.0922835e+00 3.93e-04 3.24e-01 -4.0 2.23e-01 -2.1 1.00e+00 4.80e-01h 1 6 2.0910140e+00 3.29e-04 2.08e+00 -4.0 1.55e+00 -2.6 1.00e+00 6.30e-01h 1 7 2.0908480e+00 3.73e-05 3.91e-01 -4.0 6.42e-01 -3.1 1.00e+00 1.00e+00h 1 8 2.0909052e+00 8.18e-06 4.65e-03 -4.0 7.95e-02 -3.5 1.00e+00 1.00e+00h 1 9 2.0908804e+00 6.68e-06 5.09e-05 -4.0 2.15e-01 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908354e+00 1.83e-07 2.85e-04 -4.0 5.34e-01 -4.5 1.00e+00 1.00e+00h 1 11 2.0907359e+00 5.59e-07 9.79e-04 -4.0 1.32e+00 -5.0 1.00e+00 1.00e+00h 1 12 2.0904593e+00 6.10e-06 8.31e-04 -4.0 4.27e+00 -5.4 1.00e+00 1.00e+00h 1 13 2.0903265e+00 5.64e-06 1.30e-02 -4.0 1.39e+01 -5.9 4.09e-01 1.03e-01h 2 14 2.0887411e+00 1.57e-04 3.95e-02 -4.0 3.02e+01 -6.4 1.00e+00 6.75e-01h 1 15 2.0859353e+00 1.58e-03 1.18e-01 -4.0 7.01e+01 -6.9 1.00e+00 1.00e+00h 1 16 2.0835812e+00 8.38e-04 1.54e-01 -4.0 1.23e+01 -5.5 1.00e+00 5.19e-01h 1 17 2.0833801e+00 1.35e-04 9.98e-03 -4.0 5.13e+00 -6.0 1.00e+00 1.00e+00h 1 18 2.0828987e+00 5.72e-05 3.16e-03 -4.0 1.01e+01 -6.5 1.00e+00 1.00e+00h 1 19 2.0827636e+00 6.76e-05 2.59e-03 -4.0 2.83e+01 -7.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0824952e+00 1.85e-04 3.12e-03 -4.0 7.34e+01 -7.5 1.00e+00 1.00e+00h 1 21 2.0821472e+00 9.91e-04 9.78e-03 -4.0 1.82e+02 -7.9 5.58e-01 1.00e+00h 1 22 2.0821466e+00 1.31e-03 2.20e+00 -4.0 2.13e+02 -6.6 1.00e+00 6.90e-02h 3 23 2.0820906e+00 6.48e-05 3.25e-03 -4.0 2.90e+00 -5.3 1.00e+00 1.00e+00h 1 24 2.0850463e+00 1.59e-07 4.92e-01 -4.0 3.37e-01 -3.9 3.53e-01 1.00e+00H 1 25 2.0827555e+00 2.56e-06 1.45e-02 -4.0 9.35e-02 -0.8 1.00e+00 1.00e+00f 1 26 2.0821915e+00 1.38e-06 3.12e-03 -4.0 5.91e-02 -1.3 1.00e+00 1.00e+00h 1 27 2.0821625e+00 1.03e-07 6.33e-04 -4.0 2.95e-02 -1.8 1.00e+00 1.00e+00h 1 28 2.0821659e+00 2.80e-08 3.42e-04 -4.0 5.83e-02 -2.2 1.00e+00 1.00e+00h 1 29 2.0821611e+00 9.34e-08 1.77e-04 -4.0 6.73e-02 -2.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0821534e+00 3.77e-07 1.50e-04 -4.0 5.55e-02 -3.2 1.00e+00 1.00e+00h 1 31 2.0821488e+00 9.01e-07 2.80e-05 -4.0 5.68e-02 -3.7 1.00e+00 1.00e+00h 1 32 2.0821478e+00 1.56e-06 1.15e-05 -4.0 1.62e-01 -4.1 1.00e+00 1.00e+00h 1 33 2.0821461e+00 8.66e-06 5.12e-05 -4.0 4.32e-01 -4.6 1.00e+00 1.00e+00h 1 34 2.0821416e+00 3.73e-05 2.53e-04 -4.0 8.97e-01 -5.1 1.00e+00 1.00e+00h 1 35 2.0821365e+00 3.55e-05 4.49e-04 -4.0 1.19e+00 -5.6 1.00e+00 1.00e+00h 1 36 2.0821173e+00 8.27e-06 3.19e-04 -4.0 1.82e+00 -6.1 1.00e+00 1.00e+00h 1 37 2.0820859e+00 1.08e-05 2.52e-04 -4.0 3.93e+00 -6.5 1.00e+00 1.00e+00h 1 38 2.0820476e+00 1.37e-05 4.02e-04 -4.0 9.27e+00 -7.0 1.00e+00 1.00e+00h 1 39 2.0819831e+00 2.72e-05 1.09e-03 -4.0 2.09e+01 -7.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0819027e+00 7.51e-05 2.72e-03 -4.0 3.85e+01 -8.0 1.00e+00 1.00e+00h 1 41 2.0818533e+00 1.01e-04 2.74e-03 -4.0 5.13e+01 -8.4 1.00e+00 1.00e+00h 1 42 2.0818400e+00 3.56e-05 7.61e-04 -4.0 3.45e+01 -8.9 1.00e+00 1.00e+00h 1 43 2.0818384e+00 2.14e-06 5.60e-05 -4.0 9.74e+00 -9.4 1.00e+00 1.00e+00h 1 44 2.0818383e+00 1.78e-08 6.70e-07 -4.0 1.04e+00 -9.9 1.00e+00 1.00e+00h 1 45 2.0818383e+00 1.98e-11 1.00e-09 -4.0 3.93e-02 -10.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 45 (scaled) (unscaled) Objective...............: 2.0818383022074123e+00 2.0818383022074123e+00 Dual infeasibility......: 1.0012549698037738e-09 1.0012549698037738e-09 Constraint violation....: 1.9822365970867395e-11 1.9822365970867395e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000055e-04 1.0000000000000055e-04 Overall NLP error.......: 1.0012549698037738e-09 1.0012549698037738e-09 Number of objective function evaluations = 54 Number of objective gradient evaluations = 46 Number of equality constraint evaluations = 54 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 46 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 45 Total seconds in IPOPT = 19.765 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.039s jacobian structure: 180 nonzeros (0.063s) integrator 1 hessian structure: 0.035s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.244s sub-objective 2 (QuadraticRegularizer): 0.062s sub-objective 3 (MinimumTimeObjective): 0.012s objective hessian structure: 0.39s hessian structure: 375 nonzeros (0.425s) linear index maps built (0.0s) evaluator ready (total: 0.577s) evaluator created (0.91s) NL constraint bounds extracted (0.008s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.081s) applying constraint: symmetry constraint on u applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (2.598s) optimizer initialization complete (total: 3.597s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 196 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 28 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 9.6729222e-01 8.49e-01 1.09e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2318906e+00 2.93e-01 1.61e+00 -1.0 8.49e-01 0.0 1.00e+00 1.00e+00h 1 2 1.2891127e+00 1.23e-01 3.60e-01 -0.8 3.24e-01 -0.5 9.50e-01 5.80e-01h 1 3 8.2807382e-01 7.54e-02 6.67e-01 -1.8 1.40e+00 - 9.40e-01 1.00e+00f 1 4 6.7846728e-01 6.47e-02 1.28e+00 -2.4 5.80e+00 - 1.00e+00 2.48e-01h 1 5 5.9723300e-01 1.17e-01 1.63e+00 -2.2 4.33e+00 - 1.00e+00 8.92e-01h 1 6 1.6873277e+00 6.73e-02 3.97e+00 -1.9 2.26e-01 -1.0 1.15e-01 1.00e+00H 1 7 1.6798419e+00 6.82e-02 3.45e+00 -2.8 7.73e-01 -1.4 1.00e+00 1.76e-01h 3 8 1.5948382e+00 1.18e-01 3.08e+00 -2.7 1.78e+01 -1.9 1.00e+00 5.64e-02f 2 9 1.4898088e+00 1.51e-01 3.96e+00 -3.2 9.34e+00 -2.4 1.00e+00 1.55e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.1424595e+00 8.38e-04 2.33e+00 -4.0 7.96e-01 -2.9 1.00e+00 1.00e+00h 1 11 1.1016498e+00 1.37e-04 3.94e+00 -4.0 7.50e+00 - 9.68e-01 1.00e+00f 1 12 1.0993792e+00 1.34e-04 3.86e+00 -4.0 5.24e-01 - 1.00e+00 2.09e-02h 1 13 1.0909908e+00 1.37e-07 2.83e-02 -4.0 3.97e-01 - 1.00e+00 1.00e+00h 1 14 1.0908999e+00 2.72e-12 1.89e-03 -4.0 3.39e-01 - 1.00e+00 1.00e+00h 1 15 1.0908997e+00 1.56e-21 9.11e-08 -4.0 2.36e-03 - 1.00e+00 1.00e+00h 1 16 1.0908997e+00 1.10e-27 9.12e-16 -4.0 4.91e-08 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 16 (scaled) (unscaled) Objective...............: 1.0908997263265459e+00 1.0908997263265459e+00 Dual infeasibility......: 9.1246454836380053e-16 9.1246454836380053e-16 Constraint violation....: 1.1027729680778377e-27 1.1027729680778377e-27 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000003215e-04 1.0000000000003215e-04 Overall NLP error.......: 9.1246454836380053e-16 9.1246454836380053e-16 Number of objective function evaluations = 25 Number of objective gradient evaluations = 17 Number of equality constraint evaluations = 25 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 17 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 16 Total seconds in IPOPT = 23.835 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.262s jacobian structure: 1600 nonzeros (2.323s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.377s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.427s) linear index maps built (0.0s) evaluator ready (total: 5.751s) evaluator created (5.779s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 5.781s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.6243436e+00 2.85e+00 4.73e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.8020611e+00 4.51e-01 2.58e+00 -0.8 3.06e+00 0.0 9.64e-01 8.49e-01f 1 2 2.2890272e+00 6.62e-02 2.28e+00 -1.6 5.31e-01 -0.5 6.31e-01 9.65e-01h 1 3 2.6589169e+00 1.26e-01 1.38e+00 -1.3 9.85e-01 -1.0 6.85e-01 1.00e+00f 1 4 2.6502392e+00 9.91e-02 1.39e+00 -1.1 4.22e+00 -1.4 8.09e-01 1.62e-01h 1 5 2.4453711e+00 5.33e-02 3.85e-01 -1.2 3.48e-01 -1.0 8.11e-01 5.91e-01f 1 6 2.2511636e+00 2.33e-02 1.34e-01 -2.0 4.09e-01 -1.5 9.92e-01 7.84e-01h 1 7 2.1079913e+00 4.27e-03 4.69e-02 -2.8 1.13e-01 -2.0 9.96e-01 9.47e-01h 1 8 2.0911018e+00 1.06e-04 6.22e-03 -3.9 3.58e-02 -2.4 9.97e-01 1.00e+00h 1 9 2.0909905e+00 1.58e-06 2.79e-04 -4.0 2.47e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0909801e+00 2.34e-08 2.51e-05 -4.0 6.17e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0909580e+00 1.41e-08 3.20e-05 -4.0 1.76e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0909096e+00 9.46e-08 1.96e-04 -4.0 4.48e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0908289e+00 4.08e-07 1.00e-03 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0906272e+00 3.13e-06 1.24e-03 -4.0 3.04e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900361e+00 2.73e-05 7.69e-04 -4.0 9.00e+00 -5.8 1.00e+00 1.00e+00h 1 16 2.0897518e+00 4.64e-06 1.88e-03 -4.0 3.44e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0895385e+00 5.79e-06 4.11e-02 -4.0 1.33e+01 -5.8 1.00e+00 1.65e-01h 2 18 2.0873808e+00 2.54e-04 9.24e-03 -4.0 2.69e+01 -6.3 1.00e+00 1.00e+00h 1 19 2.0838796e+00 9.78e-04 4.08e-02 -4.0 5.44e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0826933e+00 4.62e-04 2.19e-02 -4.0 5.21e+01 -7.3 1.00e+00 5.60e-01h 1 21 2.0825666e+00 1.27e-03 3.82e-02 -4.0 1.19e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0823650e+00 7.75e-04 1.41e-02 -4.0 8.20e+01 -7.3 1.00e+00 1.00e+00h 1 23 2.0820717e+00 5.37e-04 3.50e-02 -4.0 7.98e+01 -7.8 8.11e-01 1.00e+00h 1 24 2.0823493e+00 1.74e-04 1.32e+00 -4.0 1.77e+01 -5.6 1.00e+00 3.70e-01H 1 25 2.0824779e+00 6.32e-05 7.14e-02 -3.7 8.87e-01 -4.2 1.00e+00 9.56e-01h 1 26 2.0820508e+00 1.50e-05 5.33e-03 -3.9 1.62e-01 -4.7 1.00e+00 1.00e+00h 1 27 2.0818788e+00 7.62e-05 2.54e-03 -4.0 1.76e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0820155e+00 1.73e-05 1.46e-03 -4.0 1.55e+00 -5.7 1.00e+00 1.00e+00h 1 29 2.0820127e+00 6.28e-06 6.06e-04 -4.0 1.60e+00 -6.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0820221e+00 1.92e-05 2.02e-04 -4.0 2.95e+00 -6.6 1.00e+00 1.00e+00h 1 31 2.0817657e+00 2.45e-04 4.07e-04 -4.1 1.17e+01 -7.1 1.00e+00 1.00e+00h 1 32 2.0819474e+00 4.85e-04 1.64e-03 -4.0 2.12e+01 -7.6 1.00e+00 1.00e+00h 1 33 2.0816344e+00 9.44e-04 1.65e-03 -4.1 3.84e+01 -8.0 1.00e+00 1.00e+00h 1 34 2.0818528e+00 1.15e-03 2.08e-03 -4.0 4.85e+01 -8.5 1.00e+00 1.00e+00h 1 35 2.0815845e+00 6.66e-04 5.12e-04 -4.1 2.91e+01 -9.0 1.00e+00 1.00e+00h 1 36 2.0818444e+00 2.07e-04 4.23e-05 -4.0 8.59e+00 -9.5 1.00e+00 1.00e+00h 1 37 2.0815838e+00 2.15e-04 1.37e-05 -4.1 9.80e+00 -10.0 1.00e+00 1.00e+00h 1 38 2.0818445e+00 2.14e-04 1.24e-05 -4.0 9.75e+00 -10.4 1.00e+00 1.00e+00h 1 39 2.0815837e+00 2.16e-04 1.03e-05 -4.1 9.83e+00 -10.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0818446e+00 2.16e-04 9.82e-06 -4.0 9.86e+00 -11.4 1.00e+00 1.00e+00h 1 41 2.0815837e+00 2.16e-04 9.44e-06 -4.1 9.87e+00 -11.9 1.00e+00 1.00e+00h 1 42 2.0818446e+00 2.16e-04 9.54e-06 -4.0 9.87e+00 -12.3 1.00e+00 1.00e+00h 1 43 2.0815837e+00 2.16e-04 9.34e-06 -4.1 9.87e+00 -12.8 1.00e+00 1.00e+00h 1 44 2.0805951e+00 3.33e-03 1.59e-04 -6.1 4.09e+01 -13.3 9.77e-01 9.64e-01h 1 45 2.0818908e+00 6.61e-03 2.98e-04 -4.0 6.18e+01 -13.8 1.00e+00 1.00e+00f 1 46 2.0816145e+00 4.96e-04 1.06e-05 -4.1 2.08e+01 -14.2 1.00e+00 1.00e+00h 1 47 2.0806042e+00 3.49e-03 2.32e-04 -6.1 4.24e+01 -14.7 9.76e-01 9.58e-01h 1 48 2.0805507e+00 9.69e-05 2.24e-06 -6.1 1.71e+01 -15.2 1.00e+00 1.00e+00h 1 49 2.0819819e+00 1.02e-02 3.99e-04 -4.0 8.54e+01 -15.7 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0816805e+00 9.65e-04 4.96e-05 -4.1 4.57e+01 -16.2 1.00e+00 1.00e+00h 1 51 2.0816444e+00 4.73e-07 7.69e-07 -4.1 8.40e+00 -16.6 1.00e+00 1.00e+00h 1 52 2.0818441e+00 1.27e-04 5.47e-06 -4.0 7.55e+00 -17.1 1.00e+00 1.00e+00h 1 53 2.0815834e+00 2.14e-04 9.28e-06 -4.1 9.76e+00 -17.6 1.00e+00 1.00e+00h 1 54 2.0805950e+00 3.33e-03 1.58e-04 -6.1 4.09e+01 -18.1 9.77e-01 9.64e-01h 1 55 2.0805497e+00 7.61e-05 1.82e-06 -6.1 1.56e+01 -18.5 1.00e+00 1.00e+00h 1 56 2.0819883e+00 1.06e-02 4.03e-04 -4.0 8.64e+01 -19.0 1.00e+00 1.00e+00f 1 57 2.0816850e+00 9.86e-04 5.24e-05 -4.1 4.71e+01 -19.5 1.00e+00 1.00e+00h 1 58 2.0816467e+00 5.59e-07 8.13e-07 -4.1 8.79e+00 -20.0 1.00e+00 1.00e+00h 1 59 2.0805963e+00 3.67e-03 1.56e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.67e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0805509e+00 8.01e-05 1.98e-06 -6.1 1.63e+01 -20.0 1.00e+00 1.00e+00h 1 61 2.0805468e+00 5.50e-08 2.37e-08 -6.1 2.91e+00 -20.0 1.00e+00 1.00e+00h 1 62 2.0820237e+00 1.21e-02 4.23e-04 -4.0 9.79e+01 -20.0 1.00e+00 1.00e+00f 1 63 2.0817108e+00 1.09e-03 6.84e-05 -4.1 5.44e+01 -20.0 1.00e+00 1.00e+00h 1 64 2.0816597e+00 1.20e-06 1.05e-06 -4.1 1.08e+01 -20.0 1.00e+00 1.00e+00h 1 65 2.0805973e+00 3.75e-03 1.59e-04 -6.1 4.29e+01 -20.0 9.76e-01 9.67e-01h 1 66 2.0805512e+00 8.26e-05 2.04e-06 -6.1 1.65e+01 -20.0 1.00e+00 1.00e+00h 1 67 2.0805470e+00 5.83e-08 2.51e-08 -6.1 3.00e+00 -20.0 1.00e+00 1.00e+00h 1 68 2.0805365e+00 9.22e-07 7.87e-07 -9.0 9.36e-01 -20.0 1.00e+00 9.97e-01h 1 69 2.0820411e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0817244e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 71 2.0816662e+00 1.63e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 72 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 73 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 74 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.04e+00 -20.0 1.00e+00 1.00e+00h 1 75 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.46e-01 -20.0 1.00e+00 9.97e-01h 1 76 2.0805365e+00 8.66e-11 2.16e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 77 2.0820415e+00 1.30e-02 4.38e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 78 2.0817247e+00 1.13e-03 7.75e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 79 2.0816664e+00 1.64e-06 1.16e-06 -4.1 1.17e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805979e+00 3.78e-03 1.61e-04 -6.1 4.31e+01 -20.0 9.76e-01 9.67e-01h 1 81 2.0805514e+00 8.39e-05 2.07e-06 -6.1 1.67e+01 -20.0 1.00e+00 1.00e+00h 1 82 2.0805470e+00 6.01e-08 2.58e-08 -6.1 3.05e+00 -20.0 1.00e+00 1.00e+00h 1 83 2.0805365e+00 9.41e-07 8.10e-07 -9.0 9.47e-01 -20.0 1.00e+00 9.97e-01h 1 84 2.0805365e+00 8.67e-11 2.17e-12 -9.0 2.61e-02 -20.0 1.00e+00 1.00e+00h 1 85 2.0805365e+00 8.88e-16 9.09e-15 -9.0 9.99e-06 -20.0 1.00e+00 1.00e+00h 1 86 2.0805365e+00 4.44e-16 9.09e-15 -9.0 1.62e-12 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 4.44e-16 9.09e-15 -9.0 8.80e-14 -20.0 1.00e+00 1.00e+00 0 88 2.0805365e+00 2.22e-16 9.09e-15 -9.0 4.31e-14 -20.0 1.00e+00 1.00e+00T 0 Number of Iterations....: 88 (scaled) (unscaled) Objective...............: 2.0805364595436484e+00 2.0805364595436484e+00 Dual infeasibility......: 9.0909090910998750e-15 9.0909090910998750e-15 Constraint violation....: 2.2204460492503131e-16 2.2204460492503131e-16 Variable bound violation: 9.0909081495310629e-09 9.0909081495310629e-09 Complementarity.........: 9.0909090978348416e-10 9.0909090978348416e-10 Overall NLP error.......: 9.9999090909091550e-05 9.9999090909091550e-05 Number of objective function evaluations = 93 Number of objective gradient evaluations = 89 Number of equality constraint evaluations = 93 Number of inequality constraint evaluations = 93 Number of equality constraint Jacobian evaluations = 89 Number of inequality constraint Jacobian evaluations = 89 Number of Lagrangian Hessian evaluations = 89 Total seconds in IPOPT = 26.040 EXIT: Search Direction is becoming Too Small. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.06s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 5.945s jacobian structure: 1680 nonzeros (6.007s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.504s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.516s objective hessian structure: 0.517s hessian structure: 1964 nonzeros (12.069s) linear index maps built (0.0s) evaluator ready (total: 18.077s) evaluator created (18.102s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 18.104s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 96 Number of nonzeros in Lagrangian Hessian.............: 1804 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.0453968e+01 2.55e+00 2.61e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.2438839e+00 1.68e-01 4.91e+00 -0.9 1.85e+00 0.0 6.28e-01 1.00e+00f 1 2 3.9045050e+00 1.33e-01 1.67e+01 -0.5 9.67e-01 0.4 6.36e-01 4.23e-01H 1 3 3.2978166e+00 5.71e-02 7.62e+00 -0.1 7.67e-01 -0.1 9.16e-01 6.68e-01f 1 4 3.0578035e+00 1.58e-02 1.67e+00 -0.8 2.42e-01 -0.5 9.30e-01 1.00e+00f 1 5 2.7452145e+00 3.88e-03 2.11e-01 -1.4 1.08e-01 -0.1 9.87e-01 1.00e+00h 1 6 2.3312336e+00 1.15e-02 9.77e-02 -2.0 1.71e-01 -0.6 9.65e-01 7.37e-01f 1 7 2.1283117e+00 5.70e-03 2.76e-02 -2.3 1.02e-01 -1.1 8.99e-01 9.86e-01h 1 8 2.0926331e+00 3.95e-05 5.93e-03 -3.6 9.12e-03 -1.5 9.45e-01 1.00e+00h 1 9 2.0908875e+00 1.00e-06 6.15e-05 -4.0 3.87e-03 -2.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908851e+00 6.68e-09 4.76e-05 -4.0 1.47e-02 -2.5 1.00e+00 1.00e+00h 1 11 2.0908831e+00 2.23e-10 1.68e-05 -4.0 1.55e-02 -3.0 1.00e+00 1.00e+00h 1 12 2.0908792e+00 7.74e-10 1.67e-05 -4.0 4.62e-02 -3.4 1.00e+00 1.00e+00h 1 13 2.0908685e+00 6.77e-09 1.62e-05 -4.0 1.35e-01 -3.9 1.00e+00 1.00e+00h 1 14 2.0908394e+00 4.98e-08 6.46e-05 -4.0 3.82e-01 -4.4 1.00e+00 1.00e+00h 1 15 2.0907585e+00 3.78e-07 2.44e-04 -4.0 1.07e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0905131e+00 3.53e-06 4.05e-04 -4.0 3.13e+00 -5.4 1.00e+00 1.00e+00h 1 17 2.0904134e+00 5.53e-07 4.05e-04 -4.0 1.28e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0902546e+00 1.37e-06 1.27e-02 -4.0 4.88e+00 -5.4 1.00e+00 3.20e-01h 2 19 2.0892056e+00 4.76e-05 2.20e-03 -4.0 1.19e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0871415e+00 3.46e-04 2.72e-02 -4.0 3.16e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0860942e+00 2.26e-04 4.18e-02 -4.0 1.68e+01 -5.9 1.00e+00 4.62e-01h 1 22 2.0845934e+00 2.15e-04 1.81e-02 -4.0 2.58e+01 -6.4 1.00e+00 1.00e+00h 1 23 2.0827240e+00 1.71e-04 2.34e-02 -4.0 3.44e+01 -6.9 1.00e+00 8.95e-01h 1 24 2.0830392e+00 1.25e-03 3.71e-02 -4.0 5.98e+01 -7.4 1.00e+00 1.00e+00h 1 25 2.0821103e+00 1.40e-03 8.56e-03 -4.1 1.43e+02 -7.8 1.00e+00 1.00e+00h 1 26 1.5601835e+01 2.80e-04 1.23e+02 -4.0 2.03e+03 -8.3 1.64e-02 1.00e+00H 1 27 2.1234124e+00 1.01e-04 7.55e+00 -4.1 5.85e+00 -0.5 8.08e-02 6.39e-01f 1 28 2.1232970e+00 1.01e-04 6.21e+00 -4.1 1.04e-02 -0.9 1.00e+00 4.18e-03h 1 29 2.1230044e+00 3.84e-07 3.16e-03 -4.1 8.42e-02 -1.4 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.1221502e+00 1.84e-07 3.13e-03 -4.1 2.50e-01 -1.9 1.00e+00 1.00e+00h 1 31 2.1198714e+00 3.55e-07 5.35e-03 -4.1 7.33e-01 -2.4 1.00e+00 1.00e+00h 1 32 2.1138080e+00 2.63e-06 4.15e-02 -4.1 2.04e+00 -2.9 1.00e+00 1.00e+00f 1 33 2.1106141e+00 2.36e-06 1.76e+00 -4.1 4.72e+00 -3.3 1.00e+00 2.41e-01f 1 34 2.1109908e+00 6.17e-06 3.38e+00 -4.1 2.88e-01 -3.8 1.00e+00 4.70e-01f 2 35 2.1106165e+00 2.46e-05 3.73e-04 -4.1 5.31e-01 -4.3 1.00e+00 1.00e+00h 1 36 2.1097495e+00 1.74e-04 8.43e-03 -6.2 1.67e+00 -4.8 9.32e-01 1.00e+00h 1 37 2.1089653e+00 9.86e-05 4.42e-04 -6.2 4.92e+00 -5.2 1.00e+00 1.00e+00h 1 38 2.1082295e+00 6.37e-05 1.72e-01 -6.2 1.42e+01 -5.7 1.00e+00 3.61e-01h 1 39 2.1064739e+00 2.31e-05 5.99e-02 -6.2 3.45e+01 -6.2 1.00e+00 9.04e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.1042936e+00 1.02e-05 5.71e-01 -6.2 9.38e+01 -6.7 1.00e+00 4.00e-01h 1 41 2.0953261e+00 2.45e-05 1.17e-01 -6.2 2.39e+02 -7.2 7.58e-01 1.00e+00f 1 42 2.0915225e+00 2.34e-05 1.62e+00 -6.2 4.26e+02 -7.6 1.00e+00 3.27e-01h 1 43 2.0901569e+00 2.26e-05 1.89e+00 -6.2 7.01e+02 -8.1 4.96e-01 9.96e-02h 1 44 2.0913080e+00 2.31e-05 1.70e+00 -4.0 1.68e+04 -6.8 1.94e-03 6.51e-04f 2 45 2.0894344e+00 4.37e-05 1.28e+00 -5.4 1.09e+02 -7.3 2.22e-01 2.76e-01h 1 46 2.0848411e+00 3.21e-02 2.35e-01 -4.0 4.28e+02 -7.7 6.25e-01 1.00e+00f 1 47 2.0816689e+00 6.14e-03 1.81e-01 -4.2 4.74e+02 -8.2 6.33e-01 1.00e+00h 1 48 2.0823003e+00 7.68e-03 2.68e-01 -4.0 1.71e+02 -6.9 1.00e+00 1.00e+00h 1 49 2.0827708e+00 7.00e-03 7.90e-01 -3.7 7.76e+01 -7.4 6.04e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0830962e+00 4.63e-03 2.45e-01 -3.7 8.03e+01 -7.8 7.30e-01 1.00e+00h 1 51 2.0830075e+00 4.76e-03 1.26e-02 -3.7 8.57e+01 -8.3 1.00e+00 1.00e+00h 1 52 2.0831189e+00 1.13e-03 5.61e-03 -3.7 6.12e+01 -8.8 1.00e+00 1.00e+00h 1 53 2.0830520e+00 2.01e-05 1.64e-03 -3.7 2.08e+01 -9.3 1.00e+00 1.00e+00h 1 54 2.0818662e+00 3.63e-03 8.37e-04 -4.0 3.63e+01 -9.7 1.00e+00 1.00e+00h 1 55 2.0818411e+00 4.81e-06 1.52e-04 -4.0 3.80e+00 -10.2 1.00e+00 1.00e+00h 1 56 2.0818407e+00 3.39e-10 3.17e-05 -4.0 1.42e-01 -10.7 1.00e+00 1.00e+00h 1 57 2.0818407e+00 2.82e-13 3.17e-05 -4.0 1.06e-02 -11.2 1.00e+00 1.00e+00h 1 58 2.0818407e+00 8.88e-16 3.17e-05 -4.0 1.59e-05 -11.6 1.00e+00 1.00e+00H 1 59 2.0818407e+00 2.22e-16 3.17e-05 -4.0 1.59e-05 -12.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815814e+00 2.08e-04 2.58e-05 -4.1 9.47e+00 -12.6 1.00e+00 1.00e+00h 1 61 2.0818419e+00 2.15e-04 3.18e-05 -4.0 9.79e+00 -13.1 1.00e+00 1.00e+00h 1 62 2.0815819e+00 2.14e-04 2.59e-05 -4.1 9.75e+00 -13.6 1.00e+00 1.00e+00h 1 63 2.0805924e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -14.0 9.77e-01 9.68e-01h 1 64 2.0818894e+00 6.59e-03 2.97e-04 -4.0 6.14e+01 -14.5 1.00e+00 1.00e+00f 1 65 2.0816124e+00 4.95e-04 2.64e-05 -4.1 2.07e+01 -15.0 1.00e+00 1.00e+00h 1 66 2.0806015e+00 3.47e-03 1.91e-04 -6.1 4.19e+01 -15.5 9.76e-01 9.61e-01h 1 67 2.0805507e+00 9.05e-05 2.22e-06 -6.1 1.70e+01 -15.9 1.00e+00 1.00e+00h 1 68 2.0819806e+00 1.03e-02 3.96e-04 -4.0 8.49e+01 -16.4 1.00e+00 1.00e+00f 1 69 2.0816780e+00 9.65e-04 4.95e-05 -4.1 4.57e+01 -16.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0816420e+00 4.58e-07 2.72e-05 -4.1 8.54e+00 -17.4 1.00e+00 1.00e+00h 1 71 2.0818414e+00 1.26e-04 3.18e-05 -4.0 7.46e+00 -17.9 1.00e+00 1.00e+00h 1 72 2.0815817e+00 2.11e-04 2.59e-05 -4.1 9.63e+00 -18.3 1.00e+00 1.00e+00h 1 73 2.0805923e+00 3.31e-03 1.40e-04 -6.1 4.04e+01 -18.8 9.77e-01 9.68e-01h 1 74 2.0805497e+00 7.03e-05 1.80e-06 -6.1 1.55e+01 -19.3 1.00e+00 1.00e+00h 1 75 2.0819871e+00 1.06e-02 4.00e-04 -4.0 8.58e+01 -19.8 1.00e+00 1.00e+00f 1 76 2.0816826e+00 9.87e-04 5.24e-05 -4.1 4.71e+01 -20.0 1.00e+00 1.00e+00h 1 77 2.0816444e+00 5.44e-07 2.72e-05 -4.1 8.94e+00 -20.0 1.00e+00 1.00e+00h 1 78 2.0805933e+00 3.65e-03 1.55e-04 -6.1 4.19e+01 -20.0 9.76e-01 9.71e-01h 1 79 2.0805509e+00 7.35e-05 1.95e-06 -6.1 1.62e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0805468e+00 5.07e-08 2.72e-07 -6.1 2.92e+00 -20.0 1.00e+00 1.00e+00h 1 81 2.0820226e+00 1.22e-02 4.21e-04 -4.0 9.85e+01 -20.0 1.00e+00 1.00e+00f 1 82 2.0817083e+00 1.09e-03 6.84e-05 -4.1 5.45e+01 -20.0 1.00e+00 1.00e+00h 1 83 2.0816573e+00 1.18e-06 2.75e-05 -4.1 1.10e+01 -20.0 1.00e+00 1.00e+00h 1 84 2.0805943e+00 3.73e-03 1.58e-04 -6.1 4.23e+01 -20.0 9.76e-01 9.71e-01h 1 85 2.0805512e+00 7.57e-05 2.01e-06 -6.1 1.64e+01 -20.0 1.00e+00 1.00e+00h 1 86 2.0805469e+00 5.37e-08 2.76e-07 -6.1 3.01e+00 -20.0 1.00e+00 1.00e+00h 1 87 2.0805365e+00 9.26e-07 7.80e-07 -9.0 9.40e-01 -20.0 1.00e+00 9.97e-01h 1 88 2.0820402e+00 1.30e-02 4.35e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 89 2.0817219e+00 1.13e-03 7.73e-05 -4.1 5.81e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0816639e+00 1.62e-06 2.77e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 91 2.0805948e+00 3.76e-03 1.59e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 92 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 93 2.0805470e+00 5.53e-08 2.79e-07 -6.1 3.06e+00 -20.0 1.00e+00 1.00e+00h 1 94 2.0805365e+00 9.45e-07 8.03e-07 -9.0 9.51e-01 -20.0 1.00e+00 9.97e-01h 1 95 2.0805365e+00 8.66e-11 3.17e-10 -9.0 2.64e-02 -20.0 1.00e+00 1.00e+00h 1 96 2.0820406e+00 1.30e-02 4.36e-04 -4.0 1.04e+02 -20.0 1.00e+00 1.00e+00f 1 97 2.0817222e+00 1.13e-03 7.75e-05 -4.1 5.82e+01 -20.0 1.00e+00 1.00e+00h 1 98 2.0816640e+00 1.63e-06 2.77e-05 -4.1 1.19e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0805948e+00 3.76e-03 1.60e-04 -6.1 4.25e+01 -20.0 9.76e-01 9.71e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0805514e+00 7.69e-05 2.05e-06 -6.1 1.66e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0805513666947308e+00 2.0805513666947308e+00 Dual infeasibility......: 2.0490155959472837e-06 2.0490155959472837e-06 Constraint violation....: 7.6948903673740299e-05 7.6948903673740299e-05 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.0439312077775877e-06 3.0439312077775877e-06 Overall NLP error.......: 9.9199696960895786e-05 9.9199696960895786e-05 Number of objective function evaluations = 114 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 114 Number of inequality constraint evaluations = 114 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 31.479 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 1 integrator 1 jacobian structure: 0.062s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) jacobian structure: 4.13s jacobian structure: 1594 nonzeros (4.192s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalConstraint) hessian structure: 10.593s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1804 nonzeros (10.643s) linear index maps built (0.0s) evaluator ready (total: 14.835s) evaluator created (14.858s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 14.859s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 10 Number of nonzeros in Lagrangian Hessian.............: 1644 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 1 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4602584e+02 3.29e+00 3.84e+01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 5.9421150e+01 1.98e+00 2.31e+01 -0.6 2.90e+00 0.0 7.33e-01 3.88e-01f 1 2 2.9700385e+00 1.72e-01 1.02e+01 -0.2 2.13e+00 -0.5 1.00e+00 9.13e-01f 1 3 3.4197274e+00 1.70e-01 5.75e+00 -0.4 1.79e+00 -1.0 7.28e-01 1.00e+00f 1 4 3.1445233e+00 5.57e-02 8.03e-01 -0.7 3.83e-01 -0.5 9.43e-01 1.00e+00h 1 5 2.6192505e+00 1.32e-02 5.34e-01 -2.1 2.18e-01 -1.0 8.39e-01 1.00e+00h 1 6 2.2242429e+00 1.89e-02 1.56e-01 -1.9 3.84e-01 -1.5 9.38e-01 8.20e-01f 1 7 2.1119636e+00 1.91e-03 1.06e-02 -2.7 9.19e-02 -2.0 9.63e-01 1.00e+00h 1 8 2.0910641e+00 1.64e-05 5.04e-04 -4.0 7.12e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908969e+00 5.11e-07 3.16e-04 -4.0 3.00e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908923e+00 9.78e-10 3.16e-04 -4.0 4.16e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908818e+00 4.94e-09 3.16e-04 -4.0 1.22e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0908543e+00 3.74e-08 3.16e-04 -4.0 3.45e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907807e+00 3.07e-07 3.16e-04 -4.0 9.61e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0905605e+00 2.81e-06 3.57e-04 -4.0 2.79e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0904719e+00 4.39e-07 3.30e-04 -4.0 1.14e+00 -4.9 1.00e+00 1.00e+00h 1 16 2.0901242e+00 9.07e-07 2.88e-03 -4.0 4.14e+00 -5.4 1.00e+00 8.01e-01H 1 17 2.0894673e+00 5.25e-05 1.17e-02 -4.0 1.19e+01 -5.8 1.00e+00 1.00e+00f 1 18 2.0887304e+00 4.96e-05 7.09e-02 -4.0 1.48e+01 -5.4 1.00e+00 2.89e-01h 1 19 2.0878518e+00 5.17e-05 1.32e-02 -4.0 1.21e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0864669e+00 1.13e-04 4.45e-02 -4.0 3.04e+01 -6.4 1.00e+00 5.38e-01h 1 21 2.0835382e+00 9.13e-04 4.64e-02 -4.0 5.24e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826682e+00 2.67e-04 1.45e-02 -4.0 6.36e+01 -7.3 1.00e+00 6.47e-01h 1 23 2.0823977e+00 3.71e-04 1.55e-02 -4.0 1.49e+02 -7.8 9.24e-01 1.00e+00h 1 24 2.0826388e+00 3.39e-04 8.62e-03 -4.0 1.88e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824223e+00 3.49e-04 1.92e-03 -4.0 5.12e+01 -6.9 7.10e-01 1.00e+00h 1 26 2.0850407e+00 1.60e-06 3.47e-02 -4.0 2.57e+01 -7.4 1.00e+00 1.00e+00H 1 27 2.0846194e+00 2.31e-08 3.05e-02 -4.0 1.12e-02 0.4 1.00e+00 1.00e+00h 1 28 2.0838524e+00 1.92e-07 2.30e-02 -4.0 2.53e-02 -0.0 1.00e+00 1.00e+00h 1 29 2.0829668e+00 6.66e-07 1.35e-02 -4.0 4.35e-02 -0.5 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824713e+00 9.03e-07 5.00e-03 -4.0 4.68e-02 -1.0 1.00e+00 1.00e+00h 1 31 2.0823638e+00 2.73e-07 1.11e-03 -4.0 2.26e-02 -1.5 1.00e+00 1.00e+00h 1 32 2.0823558e+00 1.60e-08 4.50e-04 -4.0 3.95e-02 -2.0 1.00e+00 1.00e+00h 1 33 2.0823484e+00 7.21e-08 3.16e-04 -4.0 6.36e-02 -2.4 1.00e+00 1.00e+00h 1 34 2.0823259e+00 6.64e-07 4.67e-04 -4.0 9.07e-02 -2.9 1.00e+00 1.00e+00h 1 35 2.0821686e+00 3.31e-06 5.28e-02 -4.0 4.19e-01 -3.4 7.76e-01 4.68e-01h 1 36 2.0820746e+00 4.38e-06 1.42e-01 -4.0 1.46e-01 -3.9 1.00e+00 7.25e-01f 1 37 2.0821310e+00 1.92e-05 3.16e-04 -4.0 1.57e-01 -4.3 1.00e+00 1.00e+00h 1 38 2.0820135e+00 3.77e-06 2.51e-04 -4.1 3.85e-01 -4.8 1.00e+00 1.00e+00h 1 39 2.0821950e+00 8.34e-05 5.77e-04 -4.0 1.75e+00 -5.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0837982e+00 4.99e-06 2.09e-01 -4.1 9.95e+00 -5.8 3.81e-01 1.00e+00H 1 41 2.0828037e+00 1.40e-06 9.85e-03 -4.0 6.12e-02 -0.8 1.00e+00 1.00e+00h 1 42 2.0824113e+00 8.44e-07 2.08e-01 -4.1 4.13e-02 -1.3 1.00e+00 8.17e-01h 1 43 2.0824769e+00 5.05e-07 1.43e-03 -4.0 9.45e-02 -1.8 1.00e+00 1.00e+00f 1 44 2.0821526e+00 6.07e-07 5.77e-04 -4.1 1.15e-01 -2.3 1.00e+00 1.00e+00h 1 45 2.0823634e+00 3.17e-07 3.16e-04 -4.0 3.16e-02 -2.7 1.00e+00 1.00e+00h 1 46 2.0822079e+00 3.66e-07 2.53e-04 -4.1 1.62e-02 -3.2 1.00e+00 1.00e+00h 1 47 2.0815690e+00 6.43e-06 5.09e-02 -6.1 6.27e-02 -3.7 8.18e-01 1.00e+00h 1 48 2.0824390e+00 2.06e-05 1.35e-03 -4.0 1.51e-01 -4.2 1.00e+00 1.00e+00f 1 49 2.0821646e+00 1.67e-05 2.54e-04 -4.1 4.86e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0814303e+00 1.87e-04 2.17e-02 -6.1 1.84e+00 -5.1 8.85e-01 1.00e+00h 1 51 2.0815305e+00 1.49e-04 3.01e+00 -4.0 7.40e+00 -4.7 7.15e-01 1.42e-01h 1 52 2.0823831e+00 9.96e-04 1.12e+00 -4.0 1.65e+01 -5.2 6.03e-01 1.15e-01h 3 53 2.0826123e+00 1.08e-03 1.08e-01 -4.1 1.39e+01 -5.7 1.00e+00 8.86e-01H 1 54 2.0821949e+00 6.83e-04 5.79e-03 -4.1 2.08e+00 -6.1 1.00e+00 1.00e+00f 1 55 2.0819406e+00 1.43e-04 4.13e-02 -4.1 1.16e-01 -2.1 1.00e+00 7.91e-01h 1 56 2.0819630e+00 1.67e-06 1.75e-03 -4.1 7.00e-02 -2.6 1.00e+00 1.00e+00f 1 57 2.0819767e+00 1.61e-07 3.16e-04 -4.0 2.38e-02 -3.0 1.00e+00 1.00e+00h 1 58 2.0818571e+00 2.46e-07 2.53e-04 -4.1 1.31e-02 -3.5 1.00e+00 1.00e+00h 1 59 2.0819827e+00 1.69e-06 3.16e-04 -4.0 8.84e-02 -4.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0818686e+00 2.82e-06 2.53e-04 -4.1 1.20e-01 -4.5 1.00e+00 1.00e+00h 1 61 2.0812652e+00 9.14e-05 3.35e-02 -6.1 1.08e+00 -5.0 8.68e-01 1.00e+00h 1 62 2.0821500e+00 1.63e-04 2.40e-03 -4.0 1.36e+00 -5.4 1.00e+00 1.00e+00f 1 63 2.0819601e+00 6.92e-05 5.73e-04 -4.1 4.72e+00 -5.9 1.00e+00 1.00e+00h 1 64 2.0815135e+00 6.65e-05 9.17e-02 -6.1 3.29e+00 -5.5 8.25e-01 5.22e-01h 1 65 2.0821458e+00 2.59e-04 3.67e-03 -4.0 3.59e+00 -6.0 1.00e+00 1.00e+00f 1 66 2.0819883e+00 5.76e-05 1.47e-02 -4.1 1.02e+01 -6.4 8.42e-01 1.00e+00h 1 67 2.0819823e+00 3.95e-05 1.84e+00 -4.1 1.10e+00 -4.2 1.00e+00 2.85e-01h 1 68 2.0818487e+00 3.54e-06 8.27e-04 -4.1 1.01e-01 -4.7 1.00e+00 1.00e+00f 1 69 2.0820678e+00 3.89e-05 4.05e-04 -4.0 5.93e-01 -5.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0819040e+00 1.17e-05 3.53e-04 -4.1 6.85e-01 -5.6 1.00e+00 1.00e+00h 1 71 2.0811178e+00 5.61e-04 5.63e-03 -6.1 7.57e+00 -6.1 9.94e-01 1.00e+00h 1 72 2.0812058e+00 3.53e-05 1.26e-02 -4.7 2.56e-01 -3.9 1.00e+00 9.37e-01h 1 73 2.0815082e+00 2.40e-05 2.28e-01 -4.0 1.17e+00 -4.4 1.00e+00 4.15e-01f 1 74 2.0817387e+00 5.01e-05 1.55e-03 -4.0 1.14e+00 -4.8 1.00e+00 1.00e+00h 1 75 2.0817394e+00 7.85e-06 1.21e-03 -4.1 8.17e-01 -5.3 1.00e+00 1.00e+00h 1 76 2.0819399e+00 5.66e-05 4.51e-04 -4.0 2.82e+00 -5.8 1.00e+00 1.00e+00h 1 77 2.0818347e+00 3.21e-05 7.28e-04 -4.1 1.92e+00 -6.3 1.00e+00 1.00e+00h 1 78 2.0809418e+00 1.24e-03 5.34e-03 -6.1 1.52e+01 -6.7 9.92e-01 1.00e+00h 1 79 2.0809873e+00 3.15e-06 9.81e-05 -5.1 3.85e-01 -5.4 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.0816113e+00 3.97e-05 7.98e-02 -4.0 8.21e+00 -5.9 4.83e-01 2.06e-01f 1 81 2.0814207e+00 7.17e-05 8.14e-02 -4.4 5.68e+00 -6.4 5.53e-01 1.00e+00f 1 82 2.0813508e+00 2.20e-07 3.01e-04 -4.4 2.09e-02 -2.3 1.00e+00 1.00e+00h 1 83 2.0817720e+00 1.60e-06 1.77e-03 -4.0 7.40e-02 -2.8 1.00e+00 1.00e+00h 1 84 2.0815892e+00 5.99e-07 2.52e-04 -4.1 2.37e-02 -3.3 1.00e+00 1.00e+00h 1 85 2.0812625e+00 1.06e-05 2.14e-01 -6.1 1.53e-01 -3.8 6.44e-01 1.00e+00h 1 86 2.0810356e+00 7.55e-06 3.49e-02 -6.1 1.95e-01 -4.2 8.68e-01 9.67e-01h 1 87 2.0809988e+00 5.62e-07 2.23e-03 -6.1 5.72e-01 -4.7 9.48e-01 1.00e+00h 1 88 2.0810805e+00 2.45e-06 4.19e+00 -4.0 4.28e+00 -4.3 1.00e+00 9.33e-02f 1 89 2.0816728e+00 2.87e-04 6.65e-01 -4.1 3.49e+00 -4.8 9.08e-01 3.32e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0817806e+00 5.09e-04 2.91e+00 -4.1 1.35e+01 -5.2 1.00e+00 2.33e-01h 3 91 2.0816254e+00 1.38e-04 7.78e-02 -4.1 8.60e-01 -5.7 9.78e-01 1.00e+00h 1 92 2.0816719e+00 1.72e-04 1.16e-02 -4.1 6.37e+00 -6.2 8.18e-01 1.00e+00h 1 93 2.0816952e+00 4.23e-05 1.30e-03 -4.1 3.89e+00 -6.7 1.00e+00 1.00e+00h 1 94 2.0816626e+00 2.10e-05 2.30e-04 -4.1 1.14e+01 -7.2 1.00e+00 1.00e+00h 1 95 2.0807586e+00 3.08e-03 6.02e-04 -6.2 4.15e+01 -7.6 9.78e-01 9.44e-01h 1 96 2.0818879e+00 5.68e-03 2.94e-03 -4.0 5.09e+01 -8.1 1.00e+00 1.00e+00f 1 97 2.0816210e+00 1.20e-03 1.54e-03 -4.1 4.82e+01 -8.6 1.00e+00 1.00e+00h 1 98 2.0815995e+00 1.60e-05 4.87e-04 -4.1 2.66e+01 -9.1 1.00e+00 1.00e+00h 1 99 2.0805909e+00 3.55e-03 1.37e-04 -6.1 4.22e+01 -9.5 9.78e-01 9.72e-01h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0818879e+00 6.37e-03 5.30e-04 -4.0 5.91e+01 -10.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0818879324208406e+00 2.0818879324208406e+00 Dual infeasibility......: 5.2968625083152897e-04 5.2968625083152897e-04 Constraint violation....: 6.3732652381531807e-03 6.3732652381531807e-03 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.4268053955959498e-04 1.4268053955959498e-04 Overall NLP error.......: 6.3732652381531807e-03 6.3732652381531807e-03 Number of objective function evaluations = 118 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 118 Number of inequality constraint evaluations = 118 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 33.047 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.049s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.108s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2588074e+00 3.53e+00 5.14e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.9105393e+00 6.28e-02 2.98e+00 -0.9 2.37e+00 0.0 3.79e-01 1.00e+00f 1 2 2.6787379e+00 5.52e-03 4.94e-01 -1.1 1.16e-01 0.4 1.00e+00 1.00e+00h 1 3 2.4946228e+00 2.41e-03 1.62e-01 -1.7 6.35e-02 -0.1 9.58e-01 1.00e+00h 1 4 2.1751507e+00 7.39e-03 5.86e-02 -2.1 1.90e-01 -0.5 9.75e-01 7.75e-01f 1 5 2.1319753e+00 3.78e-03 2.68e-01 -2.8 5.36e-02 -1.0 9.85e-01 5.00e-01h 1 6 2.0912500e+00 1.81e-04 5.33e-03 -4.0 2.47e-02 -1.5 1.00e+00 1.00e+00h 1 7 2.0909235e+00 2.11e-07 3.02e-04 -4.0 7.12e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0909230e+00 8.15e-10 4.02e-05 -4.0 1.10e-02 -2.4 1.00e+00 1.00e+00h 1 Number of Iterations....: 8 (scaled) (unscaled) Objective...............: 2.0909230422297838e+00 2.0909230422297838e+00 Dual infeasibility......: 4.0197093292678821e-05 4.0197093292678821e-05 Constraint violation....: 8.1465393979296419e-10 8.1465393979296419e-10 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000004088661456e-04 1.0000004088661456e-04 Overall NLP error.......: 4.0197093292678821e-05 4.0197093292678821e-05 Number of objective function evaluations = 9 Number of objective gradient evaluations = 9 Number of equality constraint evaluations = 9 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 9 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 8 Total seconds in IPOPT = 24.230 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.109s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.3719871e+00 3.16e+00 4.92e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.4698586e+00 1.19e-01 2.71e+00 -0.9 2.06e+00 0.0 6.65e-01 1.00e+00f 1 2 2.3957586e+00 7.15e-02 4.40e+00 -0.6 2.50e-01 0.4 1.00e+00 3.99e-01f 1 3 2.5328569e+00 1.43e-02 2.07e+00 -1.2 3.99e-01 -0.1 7.83e-01 1.00e+00f 1 4 2.4580866e+00 1.61e-02 2.00e+00 -4.0 2.09e+00 -0.5 2.01e-01 1.01e-01f 1 5 2.3667936e+00 1.10e-02 1.94e+00 -1.9 1.29e-01 0.8 8.53e-01 3.36e-01f 1 6 2.2116664e+00 3.95e-03 3.75e-01 -2.7 5.59e-02 0.3 1.00e+00 6.45e-01h 1 7 2.1090727e+00 1.42e-03 1.09e-01 -3.9 7.40e-02 -0.2 1.00e+00 7.36e-01h 1 8 2.0922721e+00 2.61e-04 1.34e-01 -3.7 4.21e-02 -0.6 1.00e+00 8.90e-01h 1 9 2.0909696e+00 5.73e-06 4.61e-03 -4.0 1.23e-02 -1.1 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908637e+00 2.97e-08 1.06e-04 -4.0 4.06e-03 -1.6 1.00e+00 1.00e+00h 1 11 2.0908605e+00 9.58e-10 7.50e-05 -4.0 8.65e-03 -2.1 1.00e+00 1.00e+00h 1 12 2.0908598e+00 1.93e-11 3.46e-05 -4.0 1.20e-02 -2.5 1.00e+00 1.00e+00h 1 13 2.0908576e+00 1.74e-10 2.06e-05 -4.0 2.14e-02 -3.0 1.00e+00 1.00e+00h 1 14 2.0908513e+00 1.57e-09 2.06e-05 -4.0 6.41e-02 -3.5 1.00e+00 1.00e+00h 1 15 2.0908324e+00 1.41e-08 2.06e-05 -4.0 1.92e-01 -4.0 1.00e+00 1.00e+00h 1 16 2.0907757e+00 1.27e-07 2.06e-05 -4.0 5.76e-01 -4.4 1.00e+00 1.00e+00h 1 17 2.0906058e+00 1.15e-06 2.05e-05 -4.0 1.73e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0900976e+00 1.04e-05 4.58e-05 -4.0 5.17e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0885873e+00 9.56e-05 4.08e-04 -4.0 1.54e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0841920e+00 9.13e-04 3.76e-03 -4.0 4.46e+01 -6.4 1.00e+00 1.00e+00h 1 21 2.0796521e+00 1.88e-03 2.32e-01 -4.0 1.10e+02 -6.8 1.00e+00 4.12e-01h 1 22 2.0792494e+00 2.12e-03 1.72e-01 -4.1 6.56e+01 -7.3 1.00e+00 7.93e-01H 1 23 2.0773644e+00 8.84e-03 3.47e-02 -4.0 1.30e+02 -7.8 1.00e+00 8.88e-01h 1 24 2.0767094e+00 2.08e-03 4.61e-02 -4.0 2.16e+02 -8.3 1.00e+00 1.00e+00h 1 25 2.0760472e+00 2.84e-03 2.92e-02 -4.0 3.58e+02 -8.7 1.00e+00 1.00e+00h 1 26 2.0755113e+00 1.61e-03 3.22e-02 -4.0 4.41e+02 -9.2 1.00e+00 6.28e-01h 1 27 2.0757291e+00 1.61e-03 9.63e-03 -4.0 1.29e+02 -9.7 1.00e+00 1.00e+00h 1 28 2.0756750e+00 1.14e-04 1.72e-04 -4.0 3.74e+01 -10.2 1.00e+00 1.00e+00h 1 29 2.0756713e+00 1.91e-06 4.20e-06 -4.0 2.15e+01 -10.7 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0756712e+00 2.27e-08 8.28e-07 -4.0 1.14e+01 -11.1 1.00e+00 1.00e+00h 1 31 2.0756712e+00 1.26e-09 5.06e-08 -4.0 3.28e+00 -11.6 1.00e+00 1.00e+00h 1 32 2.0756712e+00 1.43e-11 5.70e-10 -4.0 4.19e-01 -12.1 1.00e+00 1.00e+00h 1 Number of Iterations....: 32 (scaled) (unscaled) Objective...............: 2.0756712121107519e+00 2.0756712121107519e+00 Dual infeasibility......: 5.7012644870966037e-10 5.7012644870966037e-10 Constraint violation....: 1.4264700531896324e-11 1.4264700531896324e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000026e-04 1.0000000000000026e-04 Overall NLP error.......: 5.7012644870966037e-10 5.7012644870966037e-10 Number of objective function evaluations = 34 Number of objective gradient evaluations = 33 Number of equality constraint evaluations = 34 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 33 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 32 Total seconds in IPOPT = 25.255 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.056s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.043s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.044s) linear index maps built (0.0s) evaluator ready (total: 0.1s) evaluator created (0.1s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.101s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5651770e+00 2.53e+00 5.53e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1803870e+00 1.42e+00 1.59e+00 -0.8 2.13e+00 0.0 7.93e-01 4.37e-01f 1 2 2.6386366e+00 3.17e-02 1.52e+00 -0.9 1.47e+00 -0.5 7.98e-01 1.00e+00h 1 3 2.5867748e+00 1.51e-01 6.65e-01 -1.2 1.04e+00 -1.0 9.19e-01 1.00e+00h 1 4 2.2780319e+00 6.10e-02 2.98e-01 -1.7 1.02e+00 -1.4 9.85e-01 7.24e-01h 1 5 2.1452767e+00 8.81e-03 1.22e-01 -2.2 3.26e-01 -1.9 9.83e-01 1.00e+00h 1 6 2.0949703e+00 8.76e-04 1.31e-02 -3.6 1.12e-01 -2.4 1.00e+00 9.18e-01h 1 7 2.0909099e+00 1.21e-05 4.22e-04 -4.0 1.59e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908787e+00 2.91e-07 2.06e-05 -4.0 4.50e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908654e+00 6.77e-09 2.06e-05 -4.0 1.35e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908256e+00 6.20e-08 2.06e-05 -4.0 4.05e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908256089816160e+00 2.0908256089816160e+00 Dual infeasibility......: 2.0575594659829427e-05 2.0575594659829427e-05 Constraint violation....: 6.2013431625929094e-08 6.2013431625929094e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999994692e-05 9.9999999999994692e-05 Overall NLP error.......: 2.0575594659829427e-05 2.0575594659829427e-05 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 23.570 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.058s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.05s) linear index maps built (0.0s) evaluator ready (total: 0.108s) evaluator created (0.108s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.108s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 0 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.8068704e+00 3.63e+00 3.10e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7089111e+00 7.64e-02 7.66e+00 -1.0 2.72e+00 - 1.16e-01 9.84e-01f 1 2 2.6526646e+00 2.26e-02 6.47e-01 -1.0 4.08e-01 - 9.91e-01 1.00e+00f 1 3 2.3713389e+00 3.54e-03 1.41e-01 -1.8 1.07e-01 - 9.81e-01 1.00e+00h 1 4 2.1510493e+00 5.29e-03 1.77e-01 -2.6 1.51e-01 - 9.54e-01 1.00e+00h 1 5 2.0975140e+00 2.59e-03 8.38e-02 -3.8 8.25e-02 - 1.00e+00 7.82e-01h 1 6 2.0906607e+00 2.11e-05 4.79e-03 -4.0 4.86e-03 - 1.00e+00 9.92e-01h 1 7 2.0908803e+00 9.12e-09 2.48e-04 -4.0 2.48e-04 - 1.00e+00 1.00e+00h 1 8 2.0908798e+00 4.27e-12 1.21e-04 -4.0 1.21e-04 - 1.00e+00 1.00e+00h 1 9 2.0906657e+00 9.13e-07 1.53e-02 -4.0 2.75e+00 - 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0904553e+00 1.87e-06 1.53e-02 -4.0 2.74e+00 - 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0904553004546491e+00 2.0904553004546491e+00 Dual infeasibility......: 1.5263540039122914e-02 1.5263540039122914e-02 Constraint violation....: 1.8718733885286776e-06 1.8718733885286776e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0001583549714775e-04 1.0001583549714775e-04 Overall NLP error.......: 1.5263540039122914e-02 1.5263540039122914e-02 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 0 Total seconds in IPOPT = 8.881 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.056s) integrator 1 hessian structure: 0.046s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.047s) linear index maps built (0.0s) evaluator ready (total: 0.104s) evaluator created (0.104s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.104s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6825270e+00 2.11e+00 2.49e-01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7043584e+00 4.72e-02 5.73e-01 -1.0 1.87e+00 -2.0 1.00e+00 1.00e+00h 1 2 2.3560098e+00 3.35e-02 1.40e-01 -1.7 7.51e-01 -2.5 9.42e-01 1.00e+00h 1 3 2.1588539e+00 4.86e-02 1.40e-01 -2.5 1.53e+00 -3.0 9.97e-01 8.40e-01h 1 4 2.1155448e+00 1.79e-03 1.20e-02 -2.5 2.62e-01 -3.4 1.00e+00 1.00e+00h 1 5 2.0914131e+00 4.87e-04 2.95e-04 -3.8 1.74e-01 -3.9 1.00e+00 1.00e+00h 1 6 2.0907942e+00 3.83e-05 7.18e-05 -4.0 5.00e-01 -4.4 1.00e+00 1.00e+00h 1 7 2.0906466e+00 6.60e-07 2.06e-05 -4.0 1.50e+00 -4.9 1.00e+00 1.00e+00h 1 8 2.0902057e+00 7.75e-06 3.45e-05 -4.0 4.48e+00 -5.3 1.00e+00 1.00e+00h 1 9 2.0888936e+00 7.10e-05 3.07e-04 -4.0 1.33e+01 -5.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0850574e+00 6.72e-04 2.80e-03 -4.0 3.90e+01 -6.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0850573905260634e+00 2.0850573905260634e+00 Dual infeasibility......: 2.7983259090983872e-03 2.7983259090983872e-03 Constraint violation....: 6.7231748244211964e-04 6.7231748244211964e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000000e-04 1.0000000000000000e-04 Overall NLP error.......: 2.7983259090983872e-03 2.7983259090983872e-03 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 24.183 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.061s) integrator 1 hessian structure: 0.05s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.051s) linear index maps built (0.0s) evaluator ready (total: 0.112s) evaluator created (0.112s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.113s) [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=120, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! ┌ Warning: Constraint jacobian product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:412 ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 [ Info: Skipping JET correctness analysis on Julia 1.14.0-DEV.2407 (gated to 1.12.x) initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.574s jacobian structure: 1600 nonzeros (2.636s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.83s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.881s) linear index maps built (0.0s) evaluator ready (total: 6.517s) evaluator created (6.547s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.192s) variables set (0.727s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (2.997s) optimizer initialization complete (total: 10.606s) This is MadNLP version v0.9.2, running with Lapack-CPU (BUNCHKAUFMAN) Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.6199079e+00 4.08e+00 1.23e+00 9.55e-01 -1.0 - 0.00e+00 1 0 1 2.1049362e+00 5.19e-01 2.47e+00 3.48e-01 -1.0 0.0 8.73e-01 1 1h 2 2.1911746e+00 2.27e-01 1.69e+00 1.46e-01 -1.0 0.4 5.63e-01 1 1h 3 2.7376642e+00 8.70e-02 1.50e+00 1.18e-01 -1.0 -0.1 1.00e+00 1 1h 4 2.6367909e+00 7.42e-02 1.07e+00 1.14e-01 -1.0 -0.5 1.74e-01 1 1h 5 2.6475373e+00 1.10e-01 6.17e-01 1.17e-01 -1.0 -1.0 2.15e-01 1 2h 6 2.4941496e+00 2.16e-01 9.76e-01 8.86e-02 -1.7 -1.5 1.61e-01 1 1h 7 2.2525914e+00 7.12e-02 8.18e-01 3.26e-02 -1.7 -2.0 1.00e+00 1 1h 8 2.2511041e+00 3.98e-03 1.47e-01 2.23e-02 -1.7 -2.4 1.00e+00 1 1h 9 2.1353120e+00 8.07e-03 1.96e-02 5.79e-03 -2.5 -2.9 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0907298e+00 1.25e-03 5.14e-03 2.81e-04 -3.8 -3.4 9.96e-01 1 1h 11 2.0914204e+00 1.99e-05 6.07e-04 1.51e-04 -3.8 -3.9 1.00e+00 1 1h 12 2.0900294e+00 6.25e-05 1.32e-04 3.00e-05 -5.7 -4.3 1.00e+00 1 1h 13 2.0898975e+00 2.40e-04 2.08e-04 7.47e-06 -5.7 -4.8 1.00e+00 1 1h 14 2.0896319e+00 6.04e-04 3.79e-03 1.86e-06 -5.7 -5.3 7.11e-01 1 1h 15 2.0886121e+00 1.08e-03 1.87e-03 4.80e-06 -5.7 -5.8 1.00e+00 1 1h 16 2.0882364e+00 9.48e-04 9.13e-02 2.30e-06 -5.7 -6.3 1.33e-01 1 1h 17 2.0835871e+00 4.03e-04 5.08e-02 4.92e-06 -5.7 -6.7 1.00e+00 1 1h 18 2.0826582e+00 3.19e-04 1.28e-01 2.66e-06 -5.7 -7.2 2.13e-01 1 1h 19 2.0816953e+00 2.55e-04 1.32e-01 4.23e-06 -5.7 -7.7 2.02e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0814466e+00 1.97e-04 2.02e-01 2.00e-05 -5.7 -8.2 2.28e-01 1 1h 21 2.0806627e+00 4.39e-05 1.47e-01 1.07e-05 -5.7 -8.6 8.75e-01 1 1h 22 2.0806649e+00 3.73e-05 1.18e-01 2.54e-05 -5.7 -6.4 1.50e-01 1 1h 23 2.0806534e+00 1.66e-05 7.50e-03 8.15e-06 -5.7 -6.9 5.54e-01 1 1h 24 2.0806297e+00 2.03e-06 5.05e-04 3.03e-06 -5.7 -7.4 1.00e+00 1 1h 25 2.0805964e+00 9.78e-07 1.04e-03 2.09e-06 -5.7 -7.8 1.00e+00 1 1h 26 2.0805716e+00 2.79e-06 8.70e-03 2.66e-06 -5.7 -8.3 1.00e+00 1 1h 27 2.0882172e+00 5.19e-09 1.67e-01 8.62e-05 -5.7 -7.0 1.00e+00 1 1H 28 2.0875289e+00 6.45e-07 6.12e-01 8.24e-05 -5.7 -3.9 3.35e-02 1 3h 29 2.0817799e+00 1.43e-07 1.02e-01 2.21e-05 -5.7 -0.7 8.81e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809884e+00 6.66e-08 8.00e-01 1.14e-05 -5.7 -1.2 5.25e-01 1 1h 31 2.0806398e+00 1.56e-08 1.16e-01 2.04e-06 -5.7 -1.7 8.67e-01 1 1h 32 2.0806074e+00 1.41e-07 1.02e-01 1.89e-06 -5.7 -2.1 2.65e-01 1 1h 33 2.0806188e+00 5.72e-08 2.63e-01 1.50e-05 -5.7 -2.6 6.69e-01 1 1h 34 2.0806104e+00 1.54e-08 1.06e-05 2.14e-06 -5.7 -3.1 1.00e+00 1 1h 35 2.0805931e+00 9.28e-08 9.63e-03 2.72e-07 -8.6 -3.6 1.00e+00 1 1h 36 2.0805865e+00 3.06e-08 1.03e-05 1.30e-08 -8.6 -4.1 1.00e+00 1 1h 37 2.0805848e+00 2.71e-08 1.98e-03 2.54e-08 -8.6 -4.5 1.14e-01 1 1h 38 2.0805843e+00 1.64e-10 1.90e-04 5.00e-07 -8.6 -5.0 1.00e+00 1 1h 39 2.0805817e+00 4.74e-11 8.84e-04 1.34e-07 -8.6 -5.5 7.43e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805799e+00 6.52e-10 1.65e-04 4.69e-07 -8.6 -6.0 1.00e+00 1 1h 41 2.0805739e+00 3.07e-09 2.61e-04 6.67e-08 -8.6 -6.4 9.37e-01 1 1h 42 2.0805696e+00 2.92e-09 4.27e-03 4.74e-08 -8.6 -6.9 2.92e-01 1 1h 43 2.0805549e+00 5.99e-09 5.52e-03 9.01e-08 -8.6 -7.4 5.77e-01 1 1h 44 2.0805435e+00 7.03e-09 1.14e-02 3.27e-07 -8.6 -7.9 1.00e+00 1 1h 45 2.0805435e+00 6.87e-09 1.08e-02 2.00e-07 -8.6 -6.5 2.18e-02 1 1h 46 2.0805412e+00 2.63e-09 3.73e-03 5.62e-09 -8.6 -7.0 6.18e-01 1 1h 47 2.0805395e+00 3.69e-11 4.79e-03 6.58e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805391e+00 3.83e-11 5.42e-03 2.83e-07 -8.6 -7.1 6.02e-01 1 1h 49 2.0805384e+00 9.93e-11 6.15e-05 1.85e-08 -8.6 -7.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805384e+00 1.41e-12 6.56e-05 2.53e-09 -8.6 -6.2 9.87e-01 1 1h 51 2.0805383e+00 4.10e-13 1.12e-06 3.22e-09 -8.6 -6.7 1.00e+00 1 1h 52 2.0805382e+00 5.50e-13 1.26e-04 2.51e-09 -8.6 -7.2 4.57e-01 1 1h 53 2.0805377e+00 9.89e-12 1.53e-05 4.80e-09 -8.6 -7.7 1.00e+00 1 1h 54 2.0805370e+00 2.39e-11 3.26e-05 2.51e-09 -8.6 -8.1 1.00e+00 1 1h 55 2.0805366e+00 4.51e-11 1.95e-04 2.51e-09 -8.6 -8.6 1.00e+00 1 1h 56 2.0811855e+00 1.11e-15 9.73e-03 2.03e-06 -8.6 -7.3 1.00e+00 1 1H 57 2.0811794e+00 1.55e-12 6.56e-02 2.03e-06 -8.6 -4.1 3.62e-03 1 5h 58 2.0811737e+00 1.91e-12 2.42e-01 2.03e-06 -8.6 -3.7 4.24e-03 1 6h 59 2.0811728e+00 1.99e-12 2.86e-01 2.04e-06 -8.6 -4.2 4.34e-04 1 6h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0811722e+00 2.00e-12 6.27e-01 2.06e-06 -8.6 -3.8 4.15e-04 1 8h 61 2.0805452e+00 4.55e-07 7.52e+00 7.75e-08 -8.6 -4.2 3.13e-01 1 1h 62 2.0805447e+00 3.93e-07 7.13e+00 1.38e-07 -8.6 -4.7 1.37e-01 1 1h 63 2.0805399e+00 3.97e-08 7.19e-01 1.16e-08 -8.6 -5.2 8.99e-01 1 1h 64 2.0805392e+00 4.24e-11 2.12e-02 1.58e-06 -8.6 -5.7 1.00e+00 1 1h 65 2.0805391e+00 4.20e-11 3.25e-02 1.10e-06 -8.6 -6.2 1.04e-02 1 1h 66 2.0805387e+00 2.95e-11 3.85e-02 4.24e-07 -8.6 -6.6 2.66e-01 1 1h 67 2.0805377e+00 6.59e-10 5.62e-03 9.23e-09 -8.6 -7.1 8.42e-01 1 1h 68 2.0805370e+00 3.89e-10 2.98e-05 2.73e-09 -8.6 -7.6 1.00e+00 1 1h 69 2.0805365e+00 3.41e-11 1.40e-03 2.59e-09 -8.6 -8.1 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 70 2.0805366e+00 6.66e-16 1.78e-05 8.22e-07 -8.6 -6.7 1.00e+00 1 1H 71 2.0805365e+00 2.59e-11 2.07e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1h 72 2.0805365e+00 4.00e-13 1.44e-07 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 73 2.0805365e+00 6.57e-13 4.60e-04 2.52e-09 -8.6 -6.4 1.00e+00 1 1h 74 2.0805365e+00 8.75e-13 5.07e-06 3.40e-09 -8.6 -5.9 1.00e+00 1 1h 75 2.0805365e+00 1.05e-13 9.90e-08 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 76 2.0805365e+00 3.36e-13 1.28e-08 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 77 2.0805365e+00 2.97e-10 1.52e-08 9.68e-10 -9.0 -7.4 1.00e+00 1 1h 78 2.0805365e+00 1.00e-12 8.99e-08 9.09e-10 -9.0 -7.8 1.00e+00 1 1h 79 2.0805365e+00 6.02e-13 3.02e-07 9.09e-10 -9.0 -8.3 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 80 2.0805365e+00 2.78e-13 3.20e-07 9.09e-10 -9.0 -8.8 1.00e+00 1 1h 81 2.0805365e+00 7.26e-14 6.43e-08 9.09e-10 -9.0 -9.3 1.00e+00 1 1h 82 2.0805365e+00 2.11e-15 1.79e-09 9.09e-10 -9.0 -9.7 1.00e+00 1 1h Number of Iterations....: 82 (scaled) (unscaled) Objective...............: 2.0805364595436786e+00 2.0805364595436786e+00 Dual infeasibility......: 1.7912676897324786e-09 1.7912676897324786e-09 Constraint violation....: 2.1094237467877974e-15 2.1094237467877974e-15 Complementarity.........: 9.0909090978450594e-10 9.0909090978450594e-10 Overall NLP error.......: 1.7912676897324786e-09 1.7912676897324786e-09 Number of objective function evaluations = 116 Number of objective gradient evaluations = 83 Number of constraint evaluations = 116 Number of constraint Jacobian evaluations = 83 Number of Lagrangian Hessian evaluations = 82 Number of KKT factorizations = 199 Number of KKT backsolves = 92 Total wall secs in initialization = 23.138 s Total wall secs in linear solver = 0.178 s Total wall secs in NLP function evaluations = 19.904 s Total wall secs in solver (w/o init./fun./lin. alg.) = 53.482 s Total wall secs = 96.701 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 ┌ Warning: Trajectory has timestep variable :Δt but no bounds on it. │ Adding default lower bound of 0 to prevent negative timesteps. │ │ Recommended: Add explicit bounds when creating the trajectory: │ NamedTrajectory(...; Δt_bounds=(min, max)) │ Example: │ NamedTrajectory(qtraj, N; Δt_bounds=(1e-3, 0.5)) │ │ Or use timesteps_all_equal=true in problem options to fix timesteps. └ @ DirectTrajOpt.Problems ~/.julia/packages/DirectTrajOpt/TIf6x/src/problems.jl:66 initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (QuadraticRegularizer)... objective hessian structure: 0.091s hessian structure: 30 nonzeros (0.091s) linear index maps built (0.0s) evaluator ready (total: 0.091s) evaluator created (0.142s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.126s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: bounds on u applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial time t₁ = 0 linear constraints added: 5 (3.018s) optimizer initialization complete (total: 3.287s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 30 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4022328e-02 8.33e-17 9.95e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.2670539e-02 5.39e-12 1.72e-02 -4.0 2.31e-02 -2.0 9.83e-01 1.00e+00f 1 2 7.0000022e-03 5.43e-13 8.49e-02 -3.0 9.75e-02 -1.6 9.96e-01 1.00e+00f 1 3 1.5900516e-03 1.69e-11 6.03e-02 -3.4 1.10e-01 -1.1 1.00e+00 9.65e-01f 1 4 4.0301174e-04 7.03e-12 1.81e-02 -3.1 4.85e-01 -1.6 1.00e+00 8.93e-01f 1 5 1.1176731e-03 3.61e-12 1.64e-02 -2.8 1.37e+00 -2.1 1.00e+00 3.96e-01f 2 6 1.1176731e-03 3.61e-12 9.89e-03 -3.0 1.90e+00 -2.6 5.46e-01 2.95e-15h 48 7 1.1176731e-03 3.61e-12 1.46e-02 -4.5 2.01e+00 -3.1 4.20e-01 6.94e-16h 50 8 5.2544124e-04 3.04e-12 9.76e-03 -4.5 1.40e+00 -3.5 5.62e-01 5.62e-01s 63 9 6.2097591e-04 2.56e-12 2.13e-02 -4.5 1.76e+00 -4.0 3.16e-01 0.00e+00S 63 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 6.2097591e-04 2.56e-12 5.99e-02 -4.5 7.47e+00 -2.7 3.86e-01 9.99e-16h 47 11 6.3706648e-04 1.92e-12 2.15e-02 -4.5 1.27e+00 -3.2 5.08e-01 5.08e-01S 61 12 5.8593292e-04 1.85e-12 5.13e-02 -4.5 1.53e+00 -3.6 1.00e+00 6.70e-02f 2 13 1.5980568e-04 1.47e-12 5.38e-02 -4.5 1.43e-01 -4.1 1.00e+00 4.12e-01f 2 14 9.7944669e-05 1.30e-12 3.29e-02 -4.0 4.71e-02 -4.6 1.00e+00 1.84e-01f 3 15 9.7944669e-05 1.30e-12 2.46e-02 -4.0 3.78e-02 -5.1 1.00e+00 8.13e-13h 41 16 3.6478001e-05 9.90e-13 1.82e-02 -3.8 4.20e-02 -5.5 1.00e+00 4.97e-01f 2 17 3.6478001e-05 9.90e-13 1.09e-02 -4.0 3.07e-02 -6.0 1.00e+00 2.84e-14h 46 18 3.6478001e-05 9.90e-13 1.06e-02 -3.9 2.25e-02 -6.5 1.00e+00 5.68e-14h 45 19 9.0581503e-06 3.34e-13 5.99e-03 -3.9 2.32e-02 -7.0 1.00e+00 1.00e+00S 59 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 9.0571740e-06 3.34e-13 2.44e-03 -4.0 1.54e-02 -7.5 1.00e+00 2.44e-04h 13 21 9.0565604e-06 3.34e-13 2.57e-03 -4.0 1.89e-02 -7.9 1.00e+00 1.22e-04h 14 22 9.0562390e-06 3.34e-13 2.61e-03 -4.0 1.88e-02 -8.4 1.00e+00 6.10e-05h 15 23 9.0559039e-06 3.34e-13 2.65e-03 -4.0 1.87e-02 -8.9 1.00e+00 6.10e-05h 15 24 9.0555557e-06 3.34e-13 2.69e-03 -4.0 1.86e-02 -9.4 1.00e+00 6.10e-05h 15 25 9.0551948e-06 3.34e-13 2.73e-03 -4.0 1.85e-02 -9.8 1.00e+00 6.10e-05h 15 26 9.0548218e-06 3.34e-13 2.76e-03 -4.0 1.84e-02 -10.3 1.00e+00 6.10e-05h 15 27 9.0544371e-06 3.34e-13 2.80e-03 -4.0 1.83e-02 -10.8 1.00e+00 6.10e-05h 15 28 9.0540411e-06 3.34e-13 2.83e-03 -4.0 1.82e-02 -11.3 1.00e+00 6.10e-05h 15 29 9.0538377e-06 3.34e-13 2.86e-03 -4.0 1.81e-02 -11.7 1.00e+00 3.05e-05h 16 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 9.0536291e-06 3.34e-13 2.88e-03 -4.0 1.80e-02 -12.2 1.00e+00 3.05e-05h 16 31 9.0534154e-06 3.34e-13 2.91e-03 -4.0 1.79e-02 -12.7 1.00e+00 3.05e-05h 16 32 9.0531968e-06 3.34e-13 2.94e-03 -4.0 1.78e-02 -13.2 1.00e+00 3.05e-05h 16 33 9.0529735e-06 3.34e-13 2.96e-03 -4.0 1.77e-02 -13.7 1.00e+00 3.05e-05h 16 34 9.0527456e-06 3.34e-13 2.98e-03 -4.0 1.76e-02 -14.1 1.00e+00 3.05e-05h 16 35 9.0525133e-06 3.34e-13 3.01e-03 -4.0 1.75e-02 -14.6 1.00e+00 3.05e-05h 16 36 9.0523950e-06 3.33e-13 3.03e-03 -4.0 1.74e-02 -15.1 1.00e+00 1.53e-05h 17 37 9.0522746e-06 3.33e-13 3.05e-03 -4.0 1.73e-02 -15.6 1.00e+00 1.53e-05h 17 38 9.0521522e-06 3.33e-13 3.07e-03 -4.0 1.72e-02 -16.0 1.00e+00 1.53e-05h 17 39 9.0520278e-06 3.33e-13 3.09e-03 -4.0 1.71e-02 -16.5 1.00e+00 1.53e-05h 17 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 9.0519015e-06 3.33e-13 3.10e-03 -4.0 1.70e-02 -17.0 1.00e+00 1.53e-05h 17 41 9.0517734e-06 3.33e-13 3.12e-03 -4.0 1.69e-02 -17.5 1.00e+00 1.53e-05h 17 42 9.0516435e-06 3.33e-13 3.14e-03 -4.0 1.68e-02 -17.9 1.00e+00 1.53e-05h 17 43 9.0515118e-06 3.33e-13 3.15e-03 -4.0 1.67e-02 -18.4 1.00e+00 1.53e-05h 17 44 9.0513784e-06 3.33e-13 3.17e-03 -4.0 1.66e-02 -18.9 1.00e+00 1.53e-05h 17 45 9.0512433e-06 3.33e-13 3.18e-03 -4.0 1.65e-02 -19.4 1.00e+00 1.53e-05h 17 46 9.0512433e-06 3.33e-13 3.20e-03 -4.0 1.64e-02 -19.9 1.00e+00 2.84e-14h 46 47 2.2919778e-06 3.47e-18 1.98e-03 -4.0 1.63e-02 -20.0 1.00e+00 1.00e+00S 59 48 2.5891410e-06 2.17e-19 7.65e-04 -4.0 3.65e-03 -20.0 1.00e+00 1.00e+00f 1 49 2.5891410e-06 7.59e-19 9.80e-04 -4.1 1.19e-02 -20.0 1.00e+00 2.84e-14h 46 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 1.6343685e-06 5.42e-19 8.18e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.00e+00s 77 51 2.5095714e-06 6.51e-19 6.52e-04 -4.0 1.21e-02 -20.0 1.00e+00 1.00e+00f 1 52 2.5095714e-06 6.51e-19 9.60e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.16e-10h 34 53 2.5095714e-06 3.25e-19 9.65e-04 -4.1 1.21e-02 -20.0 1.00e+00 1.46e-11h 37 54 2.5095714e-06 3.25e-19 9.69e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.82e-12h 40 55 2.5095714e-06 3.25e-19 9.73e-04 -4.1 1.20e-02 -20.0 1.00e+00 9.09e-13h 41 56 2.5095714e-06 4.34e-19 9.77e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.84e-14h 46 57 1.5206557e-06 6.51e-19 8.02e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.00e+00s 78 58 2.3358393e-06 8.67e-19 6.23e-04 -4.0 1.22e-02 -20.0 1.00e+00 1.00e+00f 1 59 2.3358393e-06 8.67e-19 9.17e-04 -4.1 1.20e-02 -20.0 1.00e+00 7.28e-12h 38 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.3358393e-06 2.17e-19 9.21e-04 -4.1 1.21e-02 -20.0 1.00e+00 5.82e-11h 35 61 2.3358393e-06 3.25e-19 9.25e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.84e-14h 46 62 2.3358393e-06 2.17e-19 9.29e-04 -4.1 1.21e-02 -20.0 1.00e+00 9.09e-13h 41 63 2.3358393e-06 3.25e-19 9.32e-04 -4.1 1.20e-02 -20.0 1.00e+00 7.11e-15h 48 64 1.4220896e-06 4.34e-19 7.66e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.00e+00s 78 65 2.1855708e-06 3.25e-19 5.97e-04 -4.0 1.22e-02 -20.0 1.00e+00 1.00e+00f 1 66 2.1855708e-06 4.34e-19 8.80e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.27e-13h 43 67 2.1855708e-06 4.34e-19 8.83e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.22e-16h 53 68 2.1855708e-06 4.34e-19 8.87e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.22e-16h 53 69 2.1855708e-06 4.34e-19 8.90e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.22e-16h 53 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.1855708e-06 4.34e-19 8.93e-04 -4.1 1.21e-02 -20.0 1.00e+00 2.22e-16h 53 71 2.1855708e-06 2.17e-19 8.96e-04 -4.1 1.21e-02 -20.0 1.00e+00 5.82e-11h 35 72 2.1855708e-06 3.25e-19 8.99e-04 -4.1 1.20e-02 -20.0 1.00e+00 1.82e-12h 40 73 2.1855708e-06 3.25e-19 9.03e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.22e-16h 53 74 2.1855708e-06 3.25e-19 9.06e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.22e-16h 53 75 2.1855708e-06 3.25e-19 9.09e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.22e-16h 53 76 2.1855708e-06 3.25e-19 9.12e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.22e-16h 53 77 2.1855708e-06 3.25e-19 9.15e-04 -4.1 1.20e-02 -20.0 1.00e+00 2.22e-16h 53 78 2.1855708e-06 5.42e-19 9.18e-04 -4.1 1.19e-02 -20.0 1.00e+00 8.88e-16h 51 79 2.1855708e-06 7.59e-19 9.21e-04 -4.1 1.19e-02 -20.0 1.00e+00 8.88e-16h 51 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 2.1855708e-06 7.59e-19 9.23e-04 -4.1 1.19e-02 -20.0 1.00e+00 2.22e-16h 53 81 2.1855708e-06 7.59e-19 9.26e-04 -4.1 1.19e-02 -20.0 1.00e+00 2.22e-16h 53 82 2.1855708e-06 7.59e-19 9.29e-04 -4.1 1.19e-02 -20.0 1.00e+00 2.22e-16h 53 83 2.1855708e-06 6.51e-19 9.32e-04 -4.1 1.18e-02 -20.0 1.00e+00 1.16e-10h 34 84 2.1855708e-06 5.42e-19 9.35e-04 -4.1 1.18e-02 -20.0 1.00e+00 2.91e-11h 36 85 2.1855708e-06 5.42e-19 9.38e-04 -4.1 1.18e-02 -20.0 1.00e+00 1.46e-11h 37 86 2.1855708e-06 6.51e-19 9.40e-04 -4.1 1.18e-02 -20.0 1.00e+00 1.14e-13h 44 87 2.1855708e-06 7.59e-19 9.43e-04 -4.1 1.18e-02 -20.0 1.00e+00 2.84e-14h 46 88 2.1855708e-06 4.34e-19 9.46e-04 -4.1 1.18e-02 -20.0 1.00e+00 2.91e-11h 36 89 2.1855708e-06 4.34e-19 9.48e-04 -4.1 1.17e-02 -20.0 1.00e+00 7.11e-15h 48 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.1855708e-06 4.34e-19 9.51e-04 -4.1 1.17e-02 -20.0 1.00e+00 1.11e-16h 54 91 2.1855708e-06 4.34e-19 9.53e-04 -4.1 1.17e-02 -20.0 1.00e+00 2.84e-14h 46 92 2.1855708e-06 2.17e-19 9.56e-04 -4.1 1.17e-02 -20.0 1.00e+00 3.64e-12h 39 93 2.1855708e-06 2.17e-19 9.59e-04 -4.1 1.17e-02 -20.0 1.00e+00 1.11e-16h 54 94 2.1855708e-06 2.17e-19 9.61e-04 -4.1 1.16e-02 -20.0 1.00e+00 1.11e-16h 54 95 2.1855708e-06 3.25e-19 9.64e-04 -4.1 1.16e-02 -20.0 1.00e+00 7.28e-12h 38 96 2.1855708e-06 3.25e-19 9.66e-04 -4.1 1.16e-02 -20.0 1.00e+00 1.46e-11h 37 97 2.1855708e-06 3.25e-19 9.68e-04 -4.1 1.16e-02 -20.0 1.00e+00 1.11e-16h 54 98 2.1855708e-06 3.25e-19 9.71e-04 -4.1 1.16e-02 -20.0 1.00e+00 1.11e-16h 54 99 2.1855708e-06 3.25e-19 9.73e-04 -4.1 1.16e-02 -20.0 1.00e+00 1.11e-16h 54 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.1855708e-06 3.25e-19 9.76e-04 -4.1 1.15e-02 -20.0 1.00e+00 1.11e-16h 54 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.1855707533739396e-06 2.1855707533739396e-06 Dual infeasibility......: 9.7560732089582713e-04 9.7560732089582713e-04 Constraint violation....: 3.2526065174565133e-19 3.2526065174565133e-19 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.1994602225613896e-04 1.1994602225613896e-04 Overall NLP error.......: 9.7560732089582713e-04 9.7560732089582713e-04 Number of objective function evaluations = 3389 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 3389 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.447 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 0 integrators, 0 nonlinear constraints dynamics constraints: 0, nonlinear constraints: 0 jacobian structure: 0 nonzeros (0.0s) computing objective hessian structure (CompositeObjective)... sub-objective 1 (QuadraticRegularizer): 0.091s sub-objective 2 (QuadraticRegularizer): 0.0s objective hessian structure: 0.19s hessian structure: 40 nonzeros (0.19s) linear index maps built (0.0s) evaluator ready (total: 0.19s) evaluator created (0.242s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.119s) applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) applying constraint: initial value of t applying constraint: bounds on u applying constraint: bounds on t applying constraint: bounds on Δt applying constraint: time consistency constraint (t_{k+1} = t_k + Δt_k) linear constraints added: 6 (2.969s) optimizer initialization complete (total: 3.331s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 52 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 39 Total number of variables............................: 49 variables with only lower bounds: 10 variables with lower and upper bounds: 19 variables with only upper bounds: 0 Total number of equality constraints.................: 18 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.7986334e+00 1.14e+00 8.40e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.4526457e+00 4.52e-09 2.81e-01 -0.3 5.84e-01 -2.0 9.87e-01 1.00e+00f 1 2 3.3441611e-01 3.73e-09 4.04e-01 -4.0 1.40e+00 -1.6 7.64e-01 1.00e+00f 1 3 1.7119014e-01 4.49e-11 5.30e-02 -2.1 4.99e-01 -1.1 9.98e-01 1.00e+00f 1 4 4.6255572e-02 2.24e-11 4.55e-02 -3.0 8.70e-01 -1.6 9.96e-01 1.00e+00f 1 5 9.4187765e-03 2.51e-11 2.00e-02 -4.0 7.68e-01 -2.1 9.99e-01 1.00e+00f 1 6 1.8943307e-03 6.84e-12 6.50e-03 -4.0 5.12e-01 -2.6 1.00e+00 1.00e+00f 1 7 5.9666986e-04 1.73e-12 1.80e-03 -4.0 2.59e-01 -3.1 1.00e+00 1.00e+00f 1 8 4.4011606e-04 2.48e-13 2.58e-04 -4.0 8.44e-02 -3.5 1.00e+00 1.00e+00f 1 9 4.6509291e-04 2.22e-14 1.74e-04 -4.0 2.60e-02 -4.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.9968736e-04 1.40e-14 4.50e-04 -4.1 8.27e-02 -4.5 1.00e+00 1.00e+00f 1 11 4.5901046e-04 7.48e-15 3.69e-04 -4.0 2.01e-01 -5.0 1.00e+00 5.00e-01f 2 12 2.7432721e-04 3.77e-15 5.40e-04 -4.1 1.02e-01 -5.4 1.00e+00 1.00e+00f 1 13 4.6573942e-04 2.66e-15 4.72e-04 -4.0 2.52e-01 -5.9 1.00e+00 5.00e-01f 2 14 2.6357615e-04 2.11e-15 6.11e-04 -4.1 1.17e-01 -6.4 1.00e+00 1.00e+00f 1 15 4.6652308e-04 1.89e-15 5.14e-04 -4.0 2.74e-01 -6.9 1.00e+00 5.00e-01f 2 16 2.5996289e-04 1.55e-15 6.41e-04 -4.1 1.24e-01 -7.4 1.00e+00 1.00e+00f 1 17 4.6647947e-04 1.55e-15 5.32e-04 -4.0 2.84e-01 -7.8 1.00e+00 5.00e-01f 2 18 2.5877250e-04 1.33e-15 6.59e-04 -4.1 1.28e-01 -8.3 1.00e+00 1.00e+00f 1 19 4.6602791e-04 1.33e-15 5.41e-04 -4.0 2.90e-01 -8.8 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.5840193e-04 1.15e-15 6.74e-04 -4.1 1.30e-01 -9.3 1.00e+00 1.00e+00f 1 21 4.6547848e-04 1.11e-15 5.46e-04 -4.0 2.94e-01 -9.7 1.00e+00 5.00e-01f 2 22 2.5829375e-04 1.10e-15 6.86e-04 -4.1 1.33e-01 -10.2 1.00e+00 1.00e+00f 1 23 4.6491030e-04 9.99e-16 5.51e-04 -4.0 2.98e-01 -10.7 1.00e+00 5.00e-01f 2 24 2.5826793e-04 9.58e-16 6.98e-04 -4.1 1.35e-01 -11.2 1.00e+00 1.00e+00f 1 25 4.6435226e-04 8.88e-16 5.54e-04 -4.0 3.01e-01 -11.6 1.00e+00 5.00e-01f 2 26 2.5826649e-04 8.88e-16 7.09e-04 -4.1 1.37e-01 -12.1 1.00e+00 1.00e+00f 1 27 3.0966149e-05 9.21e-15 8.87e-04 -6.2 3.77e-01 -12.6 9.68e-01 1.00e+00f 1 28 1.7406046e-03 2.44e-15 7.64e-03 -4.0 1.99e+00 -13.1 1.00e+00 5.00e-01f 2 29 2.4525813e-05 2.39e-14 2.87e-03 -4.1 1.01e+00 -13.6 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 1.5764089e-03 3.11e-14 7.96e-03 -4.0 9.79e-01 -14.0 1.00e+00 1.00e+00f 1 31 1.0193825e-05 1.83e-14 2.27e-03 -4.2 1.08e+00 -14.5 1.00e+00 1.00e+00f 1 32 4.6584814e-04 1.55e-15 2.75e-03 -4.0 1.37e+00 -15.0 1.00e+00 5.00e-01f 2 33 2.1977143e-04 3.11e-15 2.38e-04 -4.2 3.72e-01 -15.5 1.00e+00 5.00e-01f 2 34 2.0225820e-05 4.50e-15 8.03e-04 -6.4 4.10e-01 -15.9 9.64e-01 1.00e+00f 1 35 8.1367128e-06 3.28e-15 9.89e-05 -6.4 1.04e-01 -16.4 1.00e+00 1.00e+00f 1 36 1.5373079e-03 1.11e-15 5.43e-03 -4.0 9.61e+00 -16.9 1.00e+00 1.24e-01f 4 37 9.8721971e-05 5.36e-14 3.47e-03 -4.0 7.92e-01 -17.4 1.00e+00 1.00e+00f 1 38 7.4950213e-04 3.57e-14 3.54e-03 -4.0 5.35e-01 -17.8 1.00e+00 1.00e+00f 1 39 3.8032000e-04 6.66e-15 4.37e-04 -4.0 4.20e-01 -18.3 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 3.5517799e-05 5.55e-15 1.32e-03 -6.0 5.03e-01 -18.8 9.55e-01 1.00e+00f 1 41 1.4629245e-05 5.33e-15 1.60e-04 -6.0 1.25e-01 -19.3 1.00e+00 1.00e+00f 1 42 4.0219418e-06 8.88e-16 1.01e-04 -6.0 1.43e-01 -19.8 1.00e+00 1.00e+00f 1 43 1.0506436e-03 5.07e-16 3.08e-03 -4.0 1.56e+01 -20.0 1.00e+00 7.69e-02f 4 44 1.6384950e-04 4.76e-14 2.85e-03 -4.0 5.78e-01 -20.0 1.00e+00 1.00e+00f 1 45 6.7146882e-04 2.24e-14 2.77e-03 -4.0 4.16e-01 -20.0 1.00e+00 1.00e+00f 1 46 3.9042587e-04 4.00e-15 4.18e-04 -4.0 3.58e-01 -20.0 1.00e+00 5.00e-01f 2 47 3.5393138e-05 5.77e-15 1.45e-03 -6.1 5.46e-01 -20.0 9.50e-01 1.00e+00f 1 48 1.4721614e-05 4.88e-15 1.70e-04 -6.1 1.33e-01 -20.0 1.00e+00 1.00e+00f 1 49 3.9185058e-06 7.77e-16 1.10e-04 -6.1 1.57e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 8.5128637e-04 5.07e-16 2.11e-03 -4.0 1.68e+01 -20.0 1.00e+00 7.13e-02f 4 51 1.9885571e-04 4.11e-14 2.47e-03 -4.0 4.82e-01 -20.0 1.00e+00 1.00e+00f 1 52 6.0930606e-04 1.55e-14 2.30e-03 -4.0 3.53e-01 -20.0 1.00e+00 1.00e+00f 1 53 3.8680518e-04 2.66e-15 3.97e-04 -4.0 3.17e-01 -20.0 1.00e+00 5.00e-01f 2 54 3.4431959e-05 5.55e-15 1.54e-03 -6.1 5.81e-01 -20.0 9.46e-01 1.00e+00f 1 55 1.4429352e-05 4.33e-15 1.76e-04 -6.1 1.39e-01 -20.0 1.00e+00 1.00e+00f 1 56 3.7785757e-06 6.81e-16 1.16e-04 -6.1 1.67e-01 -20.0 1.00e+00 1.00e+00f 1 57 7.0448002e-04 3.89e-16 1.22e-03 -4.0 1.82e+01 -20.0 1.00e+00 6.57e-02f 4 58 2.3432944e-04 3.62e-14 2.06e-03 -4.1 3.88e-01 -20.0 1.00e+00 1.00e+00f 1 59 5.5003825e-04 1.07e-14 1.80e-03 -4.1 2.82e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 3.8340581e-04 1.55e-15 3.59e-04 -4.1 2.66e-01 -20.0 1.00e+00 5.00e-01f 2 61 3.3387462e-05 5.44e-15 1.61e-03 -6.1 6.15e-01 -20.0 9.42e-01 1.00e+00f 1 62 1.4133522e-05 4.00e-15 1.80e-04 -6.1 1.44e-01 -20.0 1.00e+00 1.00e+00f 1 63 3.6602288e-06 6.66e-16 1.21e-04 -6.1 1.77e-01 -20.0 1.00e+00 1.00e+00f 1 64 5.9707129e-04 4.86e-16 4.63e-04 -4.0 1.95e+01 -20.0 1.00e+00 6.11e-02f 4 65 2.6623110e-04 3.24e-14 1.64e-03 -4.1 3.02e-01 -20.0 1.00e+00 1.00e+00f 1 66 4.9832700e-04 7.11e-15 1.33e-03 -4.1 2.13e-01 -20.0 1.00e+00 1.00e+00f 1 67 3.7913178e-04 1.11e-15 3.11e-04 -4.1 2.13e-01 -20.0 1.00e+00 5.00e-01f 2 68 3.2293286e-05 5.11e-15 1.68e-03 -6.1 6.45e-01 -20.0 9.38e-01 1.00e+00f 1 69 1.3815867e-05 3.77e-15 1.82e-04 -6.1 1.48e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 3.5529218e-06 6.11e-16 1.25e-04 -6.1 1.85e-01 -20.0 1.00e+00 1.00e+00f 1 71 5.1715519e-04 2.74e-16 2.06e-04 -4.0 2.08e+01 -20.0 1.00e+00 5.72e-02f 4 72 2.9395191e-04 2.93e-14 1.25e-03 -4.1 2.25e-01 -20.0 1.00e+00 1.00e+00f 1 73 4.5515712e-04 4.44e-15 9.05e-04 -4.1 1.49e-01 -20.0 1.00e+00 1.00e+00f 1 74 3.0511619e-04 3.33e-15 8.99e-04 -4.1 1.63e-01 -20.0 1.00e+00 1.00e+00f 1 75 4.4894959e-04 2.44e-15 7.87e-04 -4.1 1.29e-01 -20.0 1.00e+00 1.00e+00f 1 76 2.3805420e-05 4.55e-15 1.86e-03 -6.1 7.83e-01 -20.0 9.23e-01 1.00e+00f 1 77 1.2313050e-05 3.77e-15 1.26e-04 -6.1 1.11e-01 -20.0 1.00e+00 1.00e+00f 1 78 3.0729727e-06 4.44e-16 1.18e-04 -6.1 1.89e-01 -20.0 1.00e+00 1.00e+00f 1 79 4.5770807e-04 2.74e-16 8.72e-04 -4.0 2.36e+01 -20.0 1.00e+00 5.04e-02f 4 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 3.2273818e-04 2.78e-14 8.47e-04 -4.1 1.50e-01 -20.0 1.00e+00 1.00e+00f 1 81 3.4146452e-05 5.55e-15 1.63e-03 -6.1 6.25e-01 -20.0 9.39e-01 1.00e+00f 1 82 1.3347306e-05 3.00e-15 2.18e-04 -6.1 1.78e-01 -20.0 1.00e+00 1.00e+00f 1 83 3.6026773e-06 5.55e-16 1.30e-04 -6.1 1.93e-01 -20.0 1.00e+00 1.00e+00f 1 84 3.6794422e-06 2.39e-16 4.80e-06 -6.1 8.47e-03 -20.0 1.00e+00 1.00e+00h 1 85 2.3790409e-07 6.51e-17 5.61e-05 -9.0 2.54e-01 -20.0 9.75e-01 1.00e+00f 1 86 2.3176477e-03 3.96e-16 1.17e-02 -4.0 1.07e+02 -20.0 1.00e+00 2.28e-02f 3 87 8.2955164e-05 4.62e-14 6.89e-03 -4.0 1.53e+00 -20.0 1.00e+00 1.00e+00f 1 88 7.5708343e-04 2.75e-14 5.35e-03 -4.0 8.16e-01 -20.0 1.00e+00 1.00e+00f 1 89 4.2556421e-04 5.33e-15 7.85e-04 -4.0 5.54e-01 -20.0 1.00e+00 5.00e-01f 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 4.2241574e-05 4.11e-15 2.12e-03 -5.9 7.18e-01 -20.0 9.29e-01 1.00e+00f 1 91 1.7376464e-05 3.77e-15 2.61e-04 -5.9 1.88e-01 -20.0 1.00e+00 1.00e+00f 1 92 4.9299920e-06 6.66e-16 1.65e-04 -5.9 2.12e-01 -20.0 1.00e+00 1.00e+00f 1 93 5.5486777e-06 2.22e-16 1.61e-05 -5.9 2.34e-02 -20.0 1.00e+00 1.00e+00h 1 94 5.1631726e-06 9.80e-17 1.98e-06 -5.9 2.91e-03 -20.0 1.00e+00 1.00e+00h 1 95 3.6884964e-07 5.20e-17 7.82e-05 -8.9 2.88e-01 -20.0 9.71e-01 1.00e+00f 1 96 1.4872851e-07 3.38e-17 8.16e-06 -8.9 6.33e-02 -20.0 1.00e+00 1.00e+00f 1 97 1.5018742e-03 8.05e-16 2.37e-03 -4.0 3.30e+02 -20.0 1.00e+00 7.38e-03f 3 98 4.9631811e-04 6.17e-14 5.34e-03 -3.8 6.84e-01 -20.0 1.00e+00 1.00e+00f 1 99 8.7206177e-04 1.73e-14 1.93e-03 -3.8 2.30e-01 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 5.7367671e-04 7.77e-15 2.19e-03 -3.8 2.85e-01 -20.0 1.00e+00 1.00e+00f 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 5.7367671039272345e-04 5.7367671039272345e-04 Dual infeasibility......: 2.1917776745718287e-03 2.1917776745718287e-03 Constraint violation....: 7.7715611723760958e-15 7.7715611723760958e-15 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.7060817913374242e-04 1.7060817913374242e-04 Overall NLP error.......: 2.1917776745718287e-03 2.1917776745718287e-03 Number of objective function evaluations = 170 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 170 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 1 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 3.382 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.057s integrator 2 jacobian structure: 0.052s integrator 3 jacobian structure: 0.0s jacobian structure: 1872 nonzeros (0.11s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.05s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.369s sub-objective 2 (QuadraticRegularizer): 0.09s sub-objective 3 (LinearRegularizer): 0.08s sub-objective 4 (MinimumTimeObjective): 0.017s objective hessian structure: 0.65s hessian structure: 2431 nonzeros (0.75s) linear index maps built (0.0s) evaluator ready (total: 0.86s) evaluator created (0.915s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: L1 slack constraint: |du| ≤ s_du applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on s_du applying constraint: bounds on Δt linear constraints added: 6 (3.095s) optimizer initialization complete (total: 4.133s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1808 Number of nonzeros in inequality constraint Jacobian.: 80 Number of nonzeros in Lagrangian Hessian.............: 2239 Total number of variables............................: 122 variables with only lower bounds: 30 variables with lower and upper bounds: 0 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 40 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 40 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.4275081e+00 4.70e+00 1.04e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.3679058e+00 1.20e+00 1.93e+00 -0.9 4.59e+01 -4.0 8.73e-01 9.40e-01f 1 2 2.3955050e+00 6.78e-01 3.07e+00 -1.6 3.14e+01 -4.5 5.38e-01 1.00e+00h 1 3 2.3417206e+00 1.88e-01 8.34e-01 -1.5 4.56e+00 -3.1 6.88e-01 7.09e-01h 1 4 2.1896921e+00 1.96e-01 4.96e-01 -1.9 7.64e+00 -3.6 5.86e-01 6.28e-01f 1 5 2.0370857e+00 9.97e-02 9.82e-02 -2.4 2.75e+00 -4.1 7.49e-01 1.00e+00h 1 6 2.0202313e+00 3.19e-02 6.10e-02 -2.8 2.98e+00 -4.6 7.83e-01 6.15e-01h 1 7 2.0028218e+00 3.26e-03 9.13e-03 -4.0 1.09e+00 -5.1 9.75e-01 8.98e-01h 1 8 2.0010524e+00 1.49e-05 8.86e-02 -4.0 4.33e+00 -5.5 5.87e-01 1.00e+00h 1 9 2.0011015e+00 4.12e-07 1.02e-01 -4.0 4.87e+00 -6.0 8.96e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0012354e+00 3.07e-08 2.37e-01 -4.0 1.06e+01 -6.5 7.23e-01 1.00e+00f 1 11 2.0010549e+00 5.72e-08 2.48e-01 -4.0 1.44e+01 -7.0 1.00e+00 8.60e-01f 1 12 2.0015664e+00 2.02e-07 6.89e-01 -4.0 3.06e+01 -7.4 6.81e-01 1.00e+00f 1 13 2.0009393e+00 1.03e-07 2.56e-01 -4.1 2.76e+01 -7.9 1.00e+00 4.65e-01h 1 14 2.0019006e+00 1.18e-08 2.17e+00 -4.0 1.07e+02 -8.4 9.34e-01 1.00e+00f 1 15 2.0006372e+00 6.38e-07 1.04e+00 -4.1 8.37e+01 -8.9 1.00e+00 6.26e-01f 1 16 2.0022437e+00 1.05e-07 5.81e+00 -4.0 2.82e+02 -9.4 7.79e-01 1.00e+00f 1 17 2.0005048e+00 1.07e-06 1.73e+00 -4.1 1.55e+02 -9.8 1.00e+00 5.58e-01f 1 18 2.0023893e+00 1.15e-07 1.58e+01 -4.0 7.77e+02 -10.3 8.65e-01 1.00e+00f 1 19 2.0002544e+00 5.44e-07 3.42e+00 -4.2 3.14e+02 -10.8 1.00e+00 5.45e-01f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0026480e+00 6.56e-08 4.54e+01 -4.0 2.24e+03 -11.3 8.17e-01 1.00e+00f 1 21 2.0002288e+00 3.38e-07 5.70e+00 -4.2 5.92e+02 -11.7 1.00e+00 4.81e-01f 1 22 2.0025661e+00 4.36e-08 1.18e+02 -4.0 5.91e+03 -12.2 9.62e-01 1.00e+00f 1 23 2.0001434e+00 8.84e-08 4.57e+00 -4.3 5.35e+02 -12.7 1.00e+00 4.76e-01f 1 24 2.0025556e+00 1.18e-08 3.16e+02 -4.0 1.58e+04 -13.2 1.00e+00 1.00e+00f 1 25 2.0001453e+00 6.51e-09 1.69e-01 -4.3 1.88e+01 -10.9 1.00e+00 4.49e-01f 1 26 2.0004697e+00 6.02e-11 1.10e+01 -4.3 5.50e+02 -11.4 1.00e+00 1.00e+00f 1 27 2.0004781e+00 8.67e-13 2.37e+01 -4.3 1.18e+03 -11.9 1.00e+00 1.00e+00f 1 28 2.0004992e+00 2.93e-14 5.65e+01 -4.3 2.83e+03 -12.4 1.00e+00 1.00e+00f 1 29 2.0005281e+00 3.95e-15 1.10e+02 -4.3 5.48e+03 -12.8 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0005382e+00 8.37e-15 1.76e+02 -4.3 8.80e+03 -13.3 1.00e+00 1.00e+00f 1 31 2.0005140e+00 1.17e-14 2.42e+02 -4.3 1.21e+04 -13.8 1.00e+00 1.00e+00f 1 32 2.0004699e+00 7.60e-15 2.76e+02 -4.3 1.38e+04 -14.3 1.00e+00 1.00e+00f 1 33 2.0004197e+00 3.26e-15 2.40e+02 -4.3 1.20e+04 -14.8 1.00e+00 1.00e+00f 1 34 2.0003790e+00 1.56e-15 1.49e+02 -4.3 7.44e+03 -15.2 1.00e+00 1.00e+00f 1 35 2.0003550e+00 1.79e-15 6.85e+01 -4.3 3.42e+03 -15.7 1.00e+00 1.00e+00h 1 36 2.0003436e+00 2.05e-15 2.78e+01 -4.3 1.39e+03 -16.2 1.00e+00 1.00e+00h 1 37 2.0003386e+00 2.42e-15 1.12e+01 -4.3 5.58e+02 -16.7 1.00e+00 1.00e+00h 1 38 2.0003366e+00 2.91e-15 4.52e+00 -4.3 2.26e+02 -17.1 1.00e+00 1.00e+00h 1 39 2.0003357e+00 3.53e-15 1.84e+00 -4.3 9.19e+01 -17.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0003354e+00 4.31e-15 7.50e-01 -4.3 3.75e+01 -18.1 1.00e+00 1.00e+00h 1 41 2.0003352e+00 5.27e-15 3.06e-01 -4.3 1.53e+01 -18.6 1.00e+00 1.00e+00h 1 42 2.0003352e+00 6.44e-15 1.25e-01 -4.3 6.25e+00 -19.0 1.00e+00 1.00e+00h 1 43 2.0003352e+00 7.89e-15 5.09e-02 -4.3 2.55e+00 -19.5 1.00e+00 1.00e+00h 1 44 2.0009063e+00 1.94e-09 1.84e+02 -4.0 9.19e+03 -20.0 1.00e+00 1.00e+00f 1 45 2.0005265e+00 3.64e-10 2.58e+02 -4.1 1.29e+04 -20.0 1.00e+00 1.00e+00f 1 46 2.0006677e+00 6.35e-10 6.79e+01 -4.1 3.40e+03 -20.0 1.00e+00 1.00e+00h 1 47 2.0006379e+00 8.56e-11 3.93e+01 -4.1 1.97e+03 -20.0 1.00e+00 1.00e+00h 1 48 2.0006588e+00 1.14e-10 6.19e+00 -4.1 3.09e+02 -20.0 1.00e+00 1.00e+00h 1 49 2.0006538e+00 1.55e-11 6.49e+00 -4.1 3.25e+02 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0006572e+00 1.91e-11 9.09e-01 -4.1 4.54e+01 -20.0 1.00e+00 1.00e+00h 1 51 2.0006564e+00 2.61e-12 1.08e+00 -4.1 5.39e+01 -20.0 1.00e+00 1.00e+00h 1 52 2.0006569e+00 3.19e-12 1.48e-01 -4.1 7.40e+00 -20.0 1.00e+00 1.00e+00h 1 53 2.0006568e+00 4.36e-13 1.79e-01 -4.1 8.97e+00 -20.0 1.00e+00 1.00e+00h 1 54 2.0006569e+00 5.31e-13 2.46e-02 -4.1 1.23e+00 -20.0 1.00e+00 1.00e+00h 1 55 2.0006569e+00 7.26e-14 2.99e-02 -4.1 1.50e+00 -20.0 1.00e+00 1.00e+00h 1 56 2.0006569e+00 8.84e-14 4.09e-03 -4.1 2.05e-01 -20.0 1.00e+00 1.00e+00h 1 57 2.0006569e+00 1.21e-14 4.98e-03 -4.1 2.49e-01 -20.0 1.00e+00 1.00e+00h 1 58 2.0006569e+00 1.47e-14 6.82e-04 -4.1 1.08e-01 -20.0 1.00e+00 1.00e+00h 1 59 1.9998555e+00 1.41e-08 2.27e+02 -6.1 1.13e+04 -20.0 1.00e+00 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0006707e+00 3.82e-09 2.01e+03 -4.0 2.01e+05 -20.0 1.00e+00 5.00e-01f 2 61 2.0004402e+00 1.10e-10 2.15e+03 -3.9 1.08e+05 -20.0 1.00e+00 1.00e+00f 1 62 2.0009329e+00 3.13e-09 4.82e+02 -3.9 2.41e+04 -20.0 1.00e+00 1.00e+00f 1 63 2.0010120e+00 2.67e-09 1.01e+02 -3.9 5.04e+03 -20.0 1.00e+00 1.00e+00h 1 64 2.0010268e+00 7.32e-10 2.68e+01 -3.9 1.34e+03 -20.0 1.00e+00 1.00e+00h 1 65 2.0010428e+00 5.14e-10 6.68e+00 -3.9 3.34e+02 -20.0 1.00e+00 1.00e+00h 1 66 2.0010450e+00 1.31e-10 4.67e+00 -3.9 2.33e+02 -20.0 1.00e+00 1.00e+00h 1 67 2.0010476e+00 8.77e-11 1.16e+00 -3.9 5.79e+01 -20.0 1.00e+00 1.00e+00h 1 68 2.0010479e+00 2.20e-11 7.76e-01 -3.9 3.88e+01 -20.0 1.00e+00 1.00e+00h 1 69 2.0010483e+00 1.47e-11 1.94e-01 -3.9 9.72e+00 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0010484e+00 3.68e-12 1.29e-01 -3.9 6.47e+00 -20.0 1.00e+00 1.00e+00h 1 71 2.0010485e+00 2.44e-12 3.24e-02 -3.9 1.62e+00 -20.0 1.00e+00 1.00e+00h 1 72 2.0010485e+00 6.12e-13 2.16e-02 -3.9 1.08e+00 -20.0 1.00e+00 1.00e+00h 1 73 2.0010485e+00 4.07e-13 5.41e-03 -3.9 4.57e-01 -20.0 1.00e+00 1.00e+00h 1 74 2.0010485e+00 1.02e-13 3.59e-03 -3.9 4.57e-01 -20.0 1.00e+00 1.00e+00h 1 75 2.0010485e+00 6.77e-14 9.01e-04 -3.9 4.57e-01 -20.0 1.00e+00 1.00e+00h 1 76 1.9998644e+00 7.89e-08 2.43e+02 -5.9 1.21e+04 -20.0 1.00e+00 1.00e+00f 1 77 1.9998441e+00 2.90e-13 2.23e+02 -5.9 1.20e+04 -20.0 9.26e-01 1.00e+00h 1 78 1.9525032e+00 2.81e-13 5.53e+05 -5.5 1.11e+08 -20.0 1.00e+00 2.50e-01f 3 79 1.9751476e+00 2.73e-13 3.64e+05 -4.0 4.68e+10 -20.0 1.00e+00 3.89e-04f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 80 1.9998336e+00 3.21e-12 3.05e+05 -2.2 1.46e+09 -20.0 1.00e+00 1.04e-02f 1 81 2.0035855e+00 7.03e-09 5.03e+02 -2.2 2.51e+04 -20.0 1.00e+00 1.00e+00f 1 82 2.0649283e+00 3.80e-04 1.81e+02 -2.2 9.06e+03 -20.0 1.00e+00 1.00e+00f 1 83 2.0521523e+00 7.97e-03 3.44e+02 -2.2 6.20e+04 -20.0 1.00e+00 1.00e+00h 1 84 2.0627055e+00 4.79e-02 6.03e+01 -2.2 8.90e+04 -20.0 1.00e+00 1.00e+00h 1 85 2.0608934e+00 2.73e-05 4.18e+01 -2.2 2.09e+03 -17.3 1.00e+00 1.00e+00h 1 86 2.0623898e+00 5.21e-05 2.61e+00 -2.2 5.81e+02 -17.8 1.00e+00 1.00e+00h 1 87 2.0621062e+00 6.22e-06 6.70e+00 -2.2 1.74e+03 -18.2 1.00e+00 1.00e+00h 1 88 2.0623499e+00 7.88e-05 3.67e-01 -2.2 5.28e+03 -18.7 1.00e+00 1.00e+00h 1 89 2.0623028e+00 9.38e-06 1.11e+00 -2.2 1.58e+04 -19.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 90 2.0623433e+00 1.16e-04 6.01e-02 -2.2 4.69e+04 -19.7 1.00e+00 1.00e+00h 1 91 2.0040439e+00 5.94e-01 2.55e+02 -3.3 1.72e+05 -20.0 1.00e+00 1.00e+00f 1 92 2.0049812e+00 4.60e-05 8.94e+01 -3.3 4.47e+03 -20.0 1.00e+00 1.00e+00h 1 93 2.0052119e+00 1.49e-06 1.36e+02 -3.3 6.80e+03 -20.0 1.00e+00 1.00e+00h 1 94 2.0047642e+00 1.31e-06 8.83e+00 -3.3 4.49e+02 -20.0 1.00e+00 1.00e+00h 1 95 2.0048541e+00 5.91e-08 2.65e+01 -3.3 1.33e+03 -20.0 1.00e+00 1.00e+00h 1 96 2.0047725e+00 2.21e-07 3.32e-01 -3.3 4.58e+01 -20.0 1.00e+00 1.00e+00h 1 97 2.0047877e+00 1.30e-08 4.56e+00 -3.3 2.28e+02 -20.0 1.00e+00 1.00e+00h 1 98 2.0047740e+00 3.65e-08 1.16e-01 -3.3 4.55e+01 -20.0 1.00e+00 1.00e+00h 1 99 2.0047764e+00 1.01e-09 7.65e-01 -3.3 4.55e+01 -20.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 100 2.0047742e+00 6.07e-09 2.10e-02 -3.3 4.54e+01 -20.0 1.00e+00 1.00e+00h 1 Number of Iterations....: 100 (scaled) (unscaled) Objective...............: 2.0047741569951940e+00 2.0047741569951940e+00 Dual infeasibility......: 2.1038141142526001e-02 2.1038141142526001e-02 Constraint violation....: 6.0661211175733198e-09 6.0661211175733198e-09 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 4.9421031205880200e-04 4.9421031205880200e-04 Overall NLP error.......: 2.1038141142526001e-02 2.1038141142526001e-02 Number of objective function evaluations = 105 Number of objective gradient evaluations = 101 Number of equality constraint evaluations = 105 Number of inequality constraint evaluations = 105 Number of equality constraint Jacobian evaluations = 101 Number of inequality constraint Jacobian evaluations = 101 Number of Lagrangian Hessian evaluations = 100 Total seconds in IPOPT = 43.291 EXIT: Maximum Number of Iterations Exceeded. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.058s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.754s jacobian structure: 1600 nonzeros (2.813s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.926s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.976s) linear index maps built (0.0s) evaluator ready (total: 6.789s) evaluator created (6.83s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.83s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 4.2130354e+00 2.88e+00 6.22e-01 9.36e-01 -1.0 - 0.00e+00 1 0 1 2.9455484e+00 5.56e-02 2.09e+00 2.38e-01 -1.0 0.0 1.00e+00 1 1h 2 2.6699979e+00 1.60e-02 6.31e-01 1.11e-01 -1.0 0.4 1.00e+00 1 1h 3 2.4449768e+00 6.91e-03 1.89e-01 3.65e-02 -1.7 -0.1 1.00e+00 2 1h 4 2.1906532e+00 7.94e-03 8.22e-02 1.33e-02 -2.5 -0.5 6.64e-01 2 1h 5 2.1150728e+00 6.38e-04 2.58e-02 4.01e-03 -2.5 -1.0 1.00e+00 2 1h 6 2.0913487e+00 4.01e-05 5.09e-03 1.76e-04 -3.8 -1.5 1.00e+00 2 1h 7 2.0913171e+00 7.91e-07 1.40e-04 1.50e-04 -3.8 -2.0 1.00e+00 2 1h 8 2.0899790e+00 8.86e-07 3.05e-05 9.88e-06 -5.7 -2.4 1.00e+00 2 1h 9 2.0899740e+00 2.01e-07 5.00e-05 2.98e-06 -5.7 -2.9 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0899660e+00 1.36e-06 6.65e-05 1.89e-06 -5.7 -3.4 1.00e+00 2 1h 11 2.0899504e+00 8.52e-06 4.23e-05 1.84e-06 -5.7 -3.9 1.00e+00 2 1h 12 2.0899089e+00 4.76e-05 1.94e-05 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 13 2.0898430e+00 4.86e-05 2.33e-03 1.85e-06 -5.7 -4.8 5.11e-01 1 1h 14 2.0894836e+00 9.46e-05 6.56e-04 3.22e-06 -5.7 -5.3 1.00e+00 1 1h 15 2.0893374e+00 8.80e-05 7.24e-02 2.15e-06 -5.7 -5.8 7.02e-02 1 1h 16 2.0867847e+00 3.44e-05 1.29e-02 3.94e-06 -5.7 -6.3 1.00e+00 1 1h 17 2.0862914e+00 3.10e-05 1.64e-01 2.93e-06 -5.7 -6.7 1.00e-01 1 1h 18 2.0817461e+00 4.98e-05 1.33e-01 2.28e-06 -5.7 -7.2 7.51e-01 1 1h 19 2.0818837e+00 2.30e-08 1.28e-01 8.17e-04 -5.7 -7.7 1.00e+00 2 1H iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0811087e+00 3.07e-05 3.29e-02 3.37e-04 -5.7 -8.2 6.07e-01 2 1h 21 2.0806887e+00 1.36e-05 4.88e-02 1.29e-04 -5.7 -8.6 9.28e-01 1 1h 22 2.0807226e+00 1.23e-05 9.21e-02 1.20e-04 -5.7 -7.3 1.01e-01 1 1h 23 2.0807076e+00 1.26e-05 3.12e-01 1.25e-04 -5.7 -6.0 2.33e-03 1 1h 24 2.0808483e+00 6.62e-10 1.43e-01 4.14e-04 -5.7 -6.5 1.00e+00 2 1H 25 2.0808262e+00 4.79e-08 1.97e-01 2.13e-04 -5.7 -6.9 8.90e-02 2 1h 26 2.0808269e+00 2.67e-08 5.65e-02 5.78e-06 -5.7 -4.7 7.61e-01 1 1H 27 2.0808236e+00 1.16e-07 2.46e-04 8.54e-06 -5.7 -5.2 1.00e+00 2 1h 28 2.0808036e+00 1.24e-08 7.13e-05 3.16e-06 -5.7 -5.7 1.00e+00 2 1h 29 2.0807548e+00 7.46e-08 1.02e-04 1.97e-06 -5.7 -6.1 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0806612e+00 3.58e-07 5.02e-03 1.88e-06 -5.7 -6.6 7.69e-01 2 1h 31 2.0806967e+00 2.05e-11 5.23e-02 2.33e-05 -5.7 -6.2 1.00e+00 1 1H 32 2.0806855e+00 9.75e-09 1.93e-01 4.40e-06 -5.7 -4.0 4.35e-01 1 2h 33 2.0806783e+00 7.69e-09 1.38e-04 2.04e-06 -5.7 -4.4 1.00e+00 2 1h 34 2.0806776e+00 1.46e-08 6.16e-05 3.08e-06 -5.7 -4.9 1.00e+00 2 1h 35 2.0806699e+00 9.87e-09 2.84e-05 1.92e-06 -5.7 -5.4 1.00e+00 2 1h 36 2.0806500e+00 3.22e-08 1.69e-04 1.84e-06 -5.7 -5.9 1.00e+00 2 1h 37 2.0806457e+00 1.86e-07 7.17e-03 1.86e-06 -5.7 -6.3 1.89e-01 2 2h 38 2.0806440e+00 4.20e-07 5.55e-04 5.66e-06 -5.7 -5.0 1.00e+00 1 1h 39 2.0806426e+00 3.91e-08 5.43e-05 2.47e-06 -5.7 -5.5 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0806376e+00 1.41e-08 5.74e-05 1.88e-06 -5.7 -6.0 1.00e+00 2 1h 41 2.0806265e+00 3.07e-08 1.37e-04 1.84e-06 -5.7 -6.4 1.00e+00 2 1h 42 2.0806212e+00 2.13e-07 3.41e-04 4.19e-06 -5.7 -6.9 1.00e+00 2 1h 43 2.0805961e+00 1.54e-07 3.20e-04 2.06e-06 -5.7 -7.4 1.00e+00 1 1h 44 2.0805750e+00 1.63e-07 3.03e-03 1.90e-06 -5.7 -7.9 5.00e-01 2 1h 45 2.0805684e+00 5.65e-07 7.71e-04 6.63e-06 -5.7 -8.4 1.00e+00 1 1h 46 2.0805610e+00 3.95e-07 4.31e-04 2.09e-06 -5.7 -8.8 1.00e+00 1 1h 47 2.0805604e+00 3.99e-08 4.00e-05 1.84e-06 -5.7 -9.3 1.00e+00 1 1h 48 2.0805604e+00 5.35e-10 7.26e-07 1.84e-06 -5.7 -9.8 1.00e+00 1 1h 49 2.0805367e+00 3.96e-06 3.45e-06 6.17e-08 -8.6 -10.3 9.93e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805365e+00 1.56e-09 2.58e-09 2.56e-09 -8.6 -10.7 1.00e+00 2 1h Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0805364804119617e+00 2.0805364804119617e+00 Dual infeasibility......: 2.5796608460471049e-09 2.5796608460471049e-09 Constraint violation....: 1.5570831291000786e-09 1.5570831291000786e-09 Complementarity.........: 2.5621405477763087e-09 2.5621405477763087e-09 Overall NLP error.......: 2.5796608460471049e-09 2.5796608460471049e-09 Number of objective function evaluations = 60 Number of objective gradient evaluations = 51 Number of constraint evaluations = 60 Number of constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Number of KKT factorizations = 117 Number of KKT backsolves = 91 Total wall secs in initialization = 5.901 s Total wall secs in linear solver = 0.078 s Total wall secs in NLP function evaluations = 18.774 s Total wall secs in solver (w/o init./fun./lin. alg.) = 29.858 s Total wall secs = 54.612 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.059s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) jacobian structure: 3.082s jacobian structure: 1680 nonzeros (3.142s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearGlobalKnotPointConstraint) hessian structure: 11.735s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s sub-objective 5 (GlobalObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1964 nonzeros (11.784s) linear index maps built (0.0s) evaluator ready (total: 14.927s) evaluator created (14.958s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.091s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (4.715s) optimizer initialization complete (total: 19.766s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1680 Number of nonzeros in Lagrangian Hessian.............: 1964 Total number of variables............................: 112 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 6.5978158e+00 2.96e+00 2.02e+00 1.92e+00 -1.0 - 0.00e+00 1 0 1 3.3141811e+00 2.34e-01 3.49e+00 3.43e-01 -1.0 0.0 1.00e+00 1 1h 2 2.7167481e+00 1.15e-01 1.03e+00 1.11e-01 -1.0 -0.5 1.00e+00 2 1h 3 2.7380671e+00 4.60e-03 1.41e-01 1.03e-01 -1.0 -1.0 1.00e+00 2 1h 4 2.1932862e+00 6.37e-02 2.41e-01 2.87e-02 -2.5 -1.4 1.00e+00 2 1h 5 2.1398274e+00 1.80e-03 1.40e-01 8.44e-03 -2.5 -1.9 1.00e+00 2 1h 6 2.1133707e+00 2.54e-03 8.81e-03 2.89e-03 -2.5 -2.4 1.00e+00 2 1h 7 2.0915271e+00 3.57e-05 1.68e-04 1.85e-04 -3.8 -2.9 1.00e+00 2 1h 8 2.0899514e+00 5.84e-06 2.03e-05 2.35e-05 -5.7 -3.3 1.00e+00 2 1h 9 2.0899285e+00 2.48e-06 2.02e-04 6.45e-06 -5.7 -3.8 1.00e+00 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 10 2.0898878e+00 1.74e-05 6.01e-05 1.84e-06 -5.7 -4.3 1.00e+00 2 1h 11 2.0897766e+00 6.65e-05 2.71e-05 1.85e-06 -5.7 -4.8 1.00e+00 2 1h 12 2.0896068e+00 6.57e-05 6.23e-03 1.87e-06 -5.7 -5.2 5.05e-01 1 1h 13 2.0886963e+00 1.17e-04 1.69e-03 5.11e-06 -5.7 -5.7 1.00e+00 1 1h 14 2.0883416e+00 1.03e-04 8.52e-02 2.26e-06 -5.7 -6.2 1.34e-01 1 1h 15 2.0839222e+00 4.41e-05 4.41e-02 5.07e-06 -5.7 -6.7 1.00e+00 1 1h 16 2.0830390e+00 3.56e-05 1.37e-01 2.81e-06 -5.7 -7.2 1.94e-01 1 1h 17 2.0816887e+00 2.64e-05 1.40e-01 3.43e-06 -5.7 -7.6 2.68e-01 1 1h 18 2.0814103e+00 3.04e-05 1.96e-01 4.03e-05 -5.7 -8.1 2.87e-01 1 1h 19 2.0806739e+00 3.97e-05 1.35e-01 1.92e-05 -5.7 -8.6 8.94e-01 2 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 20 2.0891307e+00 2.89e-07 2.98e-01 3.36e-04 -5.7 -7.3 1.00e+00 1 1H 21 2.0849105e+00 8.37e-05 2.31e+00 2.13e-04 -5.7 -5.0 1.90e-01 1 2h 22 2.0815091e+00 3.53e-05 1.00e+00 3.44e-05 -5.7 -1.9 5.82e-01 1 1h 23 2.0811551e+00 7.98e-06 1.97e-01 4.70e-06 -5.7 -2.4 8.07e-01 2 1h 24 2.0811662e+00 6.00e-08 2.07e-05 1.48e-05 -5.7 -2.8 1.00e+00 1 1h 25 2.0811530e+00 5.71e-08 1.09e-05 2.00e-06 -5.7 -3.3 1.00e+00 2 1h 26 2.0811309e+00 1.79e-07 1.13e-05 1.93e-08 -8.6 -3.8 1.00e+00 2 1h 27 2.0811194e+00 4.38e-09 1.12e-05 2.90e-09 -8.6 -4.3 1.00e+00 1 1h 28 2.0810859e+00 5.22e-10 1.12e-05 2.51e-09 -8.6 -4.8 1.00e+00 1 1h 29 2.0809880e+00 9.19e-10 3.88e-05 2.51e-09 -8.6 -5.2 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 30 2.0809617e+00 8.99e-10 1.27e-02 4.14e-09 -8.6 -5.7 9.56e-02 1 1h 31 2.0809426e+00 1.42e-09 3.73e-02 4.02e-06 -8.6 -6.2 8.01e-01 2 1h 32 2.0808755e+00 8.66e-09 1.30e-03 9.31e-07 -8.6 -6.7 1.00e+00 1 1h 33 2.0807430e+00 1.13e-08 1.82e-03 3.99e-08 -8.6 -7.1 1.00e+00 1 1h 34 2.0806013e+00 6.90e-09 3.89e-03 9.70e-09 -8.6 -7.6 9.46e-01 1 1h 35 2.0805985e+00 6.37e-09 2.59e-01 1.57e-05 -8.6 -7.2 8.38e-02 1 1h 36 2.0805636e+00 2.55e-09 7.92e-02 5.27e-07 -8.6 -7.7 7.09e-01 1 1h 37 2.0805634e+00 1.53e-09 5.04e-02 3.33e-06 -8.6 -6.3 4.01e-01 1 1h 38 2.0805634e+00 1.52e-09 2.25e-02 1.95e-06 -8.6 -6.8 1.78e-03 1 1h 39 2.0805566e+00 2.00e-10 4.29e-03 5.94e-07 -8.6 -7.3 9.25e-01 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 40 2.0805539e+00 4.97e-10 8.76e-05 2.35e-06 -8.6 -6.9 1.00e+00 1 1h 41 2.0805511e+00 4.58e-10 4.04e-03 2.51e-09 -8.6 -7.3 8.13e-01 1 1h 42 2.0805510e+00 1.01e-10 5.42e-03 2.52e-09 -8.6 -5.1 7.82e-01 1 1h 43 2.0805511e+00 8.87e-11 1.98e-05 1.85e-07 -8.6 -5.6 1.00e+00 1 1h 44 2.0805508e+00 7.04e-11 3.50e-03 2.53e-09 -8.6 -6.1 7.77e-01 1 1h 45 2.0805502e+00 1.02e-10 1.01e-05 2.51e-09 -8.6 -6.5 1.00e+00 1 1h 46 2.0805494e+00 5.84e-11 4.52e-04 2.52e-09 -8.6 -7.0 4.82e-01 1 1h 47 2.0805461e+00 1.10e-10 6.84e-05 6.27e-09 -8.6 -7.5 1.00e+00 1 1h 48 2.0805434e+00 7.48e-11 1.32e-03 2.55e-09 -8.6 -8.0 5.18e-01 1 1h 49 2.0805381e+00 3.58e-10 3.55e-04 2.51e-09 -8.6 -8.5 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 50 2.0805366e+00 2.73e-10 2.17e-03 2.53e-09 -8.6 -8.9 1.00e+00 1 1h 51 2.0805367e+00 1.31e-10 8.36e-05 1.96e-06 -8.6 -6.7 1.00e+00 1 1h 52 2.0805366e+00 1.27e-10 3.31e-03 2.52e-09 -8.6 -7.2 1.00e+00 1 1h 53 2.0805366e+00 8.92e-11 4.59e-07 2.51e-09 -8.6 -4.9 1.00e+00 1 1h 54 2.0805366e+00 8.93e-11 6.54e-07 2.51e-09 -8.6 -5.4 1.00e+00 1 1h 55 2.0805366e+00 8.93e-11 1.88e-06 2.51e-09 -8.6 -5.9 1.00e+00 1 1h 56 2.0805366e+00 8.92e-11 3.25e-06 2.51e-09 -8.6 -6.4 1.00e+00 1 1h 57 2.0805366e+00 8.93e-11 1.33e-06 2.51e-09 -8.6 -6.9 1.00e+00 1 1h 58 2.0805366e+00 8.96e-11 8.84e-07 2.51e-09 -8.6 -7.3 1.00e+00 1 1h 59 2.0805365e+00 9.00e-11 6.04e-07 2.51e-09 -8.6 -7.8 1.00e+00 1 1h iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 60 2.0805365e+00 9.03e-11 1.68e-06 2.51e-09 -8.6 -8.3 1.00e+00 1 1h 61 2.0805365e+00 9.00e-11 1.69e-06 2.51e-09 -8.6 -8.8 1.00e+00 1 1h 62 2.0805365e+00 8.93e-11 3.40e-07 2.51e-09 -8.6 -9.2 1.00e+00 1 1h 63 2.0805365e+00 8.92e-11 1.00e-08 2.51e-09 -8.6 -9.7 1.00e+00 1 1h Number of Iterations....: 63 (scaled) (unscaled) Objective...............: 2.0805364803023854e+00 2.0805364803023854e+00 Dual infeasibility......: 9.9969091893470363e-09 9.9969091893470363e-09 Constraint violation....: 8.9189100549447176e-11 8.9189100549447176e-11 Complementarity.........: 2.5059035603726593e-09 2.5059035603726593e-09 Overall NLP error.......: 9.9969091893470363e-09 9.9969091893470363e-09 Number of objective function evaluations = 67 Number of objective gradient evaluations = 64 Number of constraint evaluations = 67 Number of constraint Jacobian evaluations = 64 Number of Lagrangian Hessian evaluations = 63 Number of KKT factorizations = 151 Number of KKT backsolves = 81 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.078 s Total wall secs in NLP function evaluations = 24.395 s Total wall secs in solver (w/o init./fun./lin. alg.) = 10.533 s Total wall secs = 35.008 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.803s jacobian structure: 1600 nonzeros (2.866s) integrator 1 hessian structure: 0.047s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 3.919s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (3.968s) linear index maps built (0.0s) evaluator ready (total: 6.834s) evaluator created (6.873s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 6.874s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1376 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1306 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.3750575e+01 3.99e+00 9.60e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.1200876e+01 2.69e-01 2.41e+00 -0.8 2.12e+00 -4.0 9.07e-01 1.00e+00f 1 2 1.0496255e+01 4.30e-02 8.08e-01 -0.9 5.68e-01 -4.5 6.66e-01 1.00e+00f 1 3 9.9373159e+00 8.78e-03 4.99e-02 -1.6 2.94e-01 -5.0 9.91e-01 8.70e-01h 1 4 9.5651892e+00 6.94e-03 4.86e-02 -2.5 1.94e-01 -5.4 9.63e-01 1.00e+00f 1 5 9.4512845e+00 1.43e-03 7.75e-03 -3.7 9.95e-02 -5.9 9.90e-01 1.00e+00h 1 6 9.4286005e+00 1.87e-04 9.50e-04 -4.0 3.42e-02 -6.4 1.00e+00 1.00e+00h 1 7 9.4259552e+00 1.85e-05 8.55e-05 -4.0 7.62e-03 -6.9 1.00e+00 1.00e+00h 1 8 9.4258097e+00 2.13e-07 8.71e-07 -4.0 6.99e-04 -7.3 1.00e+00 1.00e+00h 1 9 9.4258086e+00 3.01e-11 1.00e-09 -4.0 7.52e-06 -7.8 1.00e+00 1.00e+00h 1 Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4258086226817497e+00 9.4258086226817497e+00 Dual infeasibility......: 9.9999996929216618e-10 9.9999996929216618e-10 Constraint violation....: 3.0100477665939707e-11 3.0100477665939707e-11 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000011525471226e-04 1.0000011525471226e-04 Overall NLP error.......: 9.9999996929216618e-10 9.9999996929216618e-10 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of equality constraint evaluations = 10 Number of inequality constraint evaluations = 10 Number of equality constraint Jacobian evaluations = 10 Number of inequality constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Total seconds in IPOPT = 27.639 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) MadNLP optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 92 variables with only lower bounds: 0 variables with lower and upper bounds: 16 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.3750575e+01 3.99e+00 9.60e-01 9.79e-01 -1.0 - 0.00e+00 1 0 1 1.0996527e+01 1.87e-01 2.17e+00 4.82e-01 -1.0 -4.0 1.00e+00 2 1h 2 1.0205617e+01 1.35e-01 6.09e-01 2.52e-01 -1.0 -4.5 6.31e-01 2 1h 3 9.7094609e+00 6.84e-03 6.30e-02 4.62e-02 -1.7 -5.0 1.00e+00 2 1h 4 9.5113410e+00 3.26e-03 1.57e-02 9.60e-03 -2.5 -5.4 1.00e+00 2 1h 5 9.4397640e+00 1.00e-03 7.80e-03 2.37e-03 -3.8 -5.9 1.00e+00 2 1h 6 9.4277321e+00 1.81e-04 6.01e-04 5.30e-04 -3.8 -6.4 1.00e+00 2 1h 7 9.4246627e+00 2.65e-05 2.04e-04 5.29e-05 -5.7 -6.9 1.00e+00 2 1h 8 9.4245377e+00 6.02e-07 1.02e-06 2.80e-06 -5.7 -7.3 1.00e+00 2 1h 9 9.4245130e+00 1.38e-09 3.16e-09 5.27e-09 -8.6 -7.8 1.00e+00 2 1h Number of Iterations....: 9 (scaled) (unscaled) Objective...............: 9.4245129863423625e+00 9.4245129863423625e+00 Dual infeasibility......: 3.1638769382169585e-09 3.1638769382169585e-09 Constraint violation....: 1.3766128237335806e-09 1.3766128237335806e-09 Complementarity.........: 5.2700384895107386e-09 5.2700384895107386e-09 Overall NLP error.......: 5.2700384895107386e-09 5.2700384895107386e-09 Number of objective function evaluations = 10 Number of objective gradient evaluations = 10 Number of constraint evaluations = 10 Number of constraint Jacobian evaluations = 10 Number of Lagrangian Hessian evaluations = 9 Number of KKT factorizations = 19 Number of KKT backsolves = 19 Total wall secs in initialization = 0.002 s Total wall secs in linear solver = 0.009 s Total wall secs in NLP function evaluations = 0.159 s Total wall secs in solver (w/o init./fun./lin. alg.) = 0.005 s Total wall secs = 0.175 s EXIT: Optimal Solution Found (tol = 1.0e-08). ┌ Warning: Constraint jacobian transpose product using stub implementation └ @ DirectTrajOpt.Solvers ~/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:438 Difference in Hessian 1 undefined exports detected. To get a list, set `broken = false`. [test_integrator] Starting... [test_integrator] constraint_dim=8, datavec_len=75, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 0 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 0 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s jacobian structure: 1584 nonzeros (0.064s) integrator 1 hessian structure: 0.041s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.042s) linear index maps built (0.0s) evaluator ready (total: 0.106s) evaluator created (0.106s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: duration constraint of 4.0 applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 6 (0.295s) optimizer initialization complete (total: 0.402s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1529 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 73 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 5.4737975e+00 4.53e+00 2.15e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 4.6788522e+00 4.00e+00 5.35e-01 -4.0 1.77e+01 -2.0 8.45e-02 1.18e-01h 1 2 2.7773250e+00 2.37e+00 8.28e-01 -2.7 4.02e+00 -1.6 2.08e-01 4.12e-01h 1 3 1.9896033e+00 1.23e+00 1.53e+00 -2.0 2.83e+00 -1.1 1.54e-01 4.76e-01h 1 4 1.8094113e+00 3.11e-01 1.87e+00 -1.6 1.12e+00 -0.7 2.34e-01 7.66e-01f 1 5 1.6455863e+00 1.97e-01 3.27e-01 -1.3 2.85e+00 -1.2 7.76e-01 8.80e-01f 1 6 1.4595475e+00 2.16e-02 2.49e-01 -1.8 4.73e-01 -1.7 8.31e-01 1.00e+00h 1 7 1.3395730e+00 1.15e-02 8.62e-03 -2.1 4.99e-01 -2.2 9.93e-01 1.00e+00h 1 8 1.1967033e+00 3.49e-01 6.53e-02 -3.2 1.05e+00 -2.6 7.90e-01 1.00e+00h 1 9 1.2403515e+00 5.23e-01 8.23e-02 -2.6 3.67e+00 -3.1 7.60e-01 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.2088893e+00 2.50e-02 1.12e-02 -2.8 3.94e-01 -3.6 1.00e+00 1.00e+00h 1 11 1.1792213e+00 1.44e-01 6.45e-03 -4.0 3.41e+00 -4.1 9.36e-01 1.00e+00h 1 12 1.1745932e+00 1.16e-01 1.99e-02 -4.0 6.39e+00 -4.5 1.00e+00 1.00e+00h 1 13 1.1705650e+00 1.59e-01 6.83e-03 -4.0 8.98e+00 -5.0 1.00e+00 1.00e+00h 1 14 1.1683093e+00 1.56e-01 1.08e-02 -4.0 1.35e+01 -5.5 1.00e+00 1.00e+00h 1 15 1.1660762e+00 2.06e-01 1.34e-03 -4.0 2.06e+01 -6.0 1.00e+00 1.00e+00h 1 16 1.1645792e+00 2.29e-01 6.01e-04 -4.0 3.11e+01 -6.4 1.00e+00 1.00e+00h 1 17 1.1632366e+00 2.86e-01 7.32e-03 -4.0 4.69e+01 -6.9 1.00e+00 1.00e+00h 1 18 1.1622723e+00 3.29e-01 1.10e-02 -4.0 6.98e+01 -7.4 1.00e+00 1.00e+00h 1 19 1.1614628e+00 3.92e-01 1.87e-02 -4.0 1.03e+02 -7.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 1.1608981e+00 4.32e-01 2.28e-02 -4.0 1.47e+02 -8.4 1.00e+00 1.00e+00h 1 21 1.1605260e+00 4.38e-01 2.45e-02 -4.0 1.97e+02 -8.8 1.00e+00 1.00e+00h 1 22 1.1605654e+00 2.44e-01 7.61e-03 -4.0 1.98e+02 -9.3 1.00e+00 1.00e+00h 1 23 1.1608625e+00 1.76e-03 3.60e-04 -4.0 1.28e+01 -9.8 1.00e+00 1.00e+00h 1 24 1.1608488e+00 5.56e-04 6.02e-05 -4.0 9.35e+00 -10.3 1.00e+00 1.00e+00h 1 25 1.1608491e+00 2.56e-07 1.74e-08 -4.0 2.47e-01 -10.7 1.00e+00 1.00e+00h 1 26 1.1608491e+00 6.48e-12 6.98e-13 -4.0 1.04e-03 -11.2 1.00e+00 1.00e+00h 1 Number of Iterations....: 26 (scaled) (unscaled) Objective...............: 1.1608491307807582e+00 1.1608491307807582e+00 Dual infeasibility......: 6.9800214870172073e-13 6.9800214870172073e-13 Constraint violation....: 6.4765970364533132e-12 6.4765970364533132e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000534e-04 1.0000000000000534e-04 Overall NLP error.......: 6.4765970364533132e-12 6.4765970364533132e-12 Number of objective function evaluations = 27 Number of objective gradient evaluations = 27 Number of equality constraint evaluations = 27 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 27 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 26 Total seconds in IPOPT = 25.752 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 1 integrators, 0 nonlinear constraints dynamics constraints: 18, nonlinear constraints: 0 integrator 1 jacobian structure: 0.055s jacobian structure: 180 nonzeros (0.088s) integrator 1 hessian structure: 0.05s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.363s sub-objective 2 (QuadraticRegularizer): 0.091s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.016s objective hessian structure: 0.569s hessian structure: 375 nonzeros (0.619s) linear index maps built (0.0s) evaluator ready (total: 0.867s) evaluator created (1.259s) NL constraint bounds extracted (0.01s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.122s) applying constraint: sum of w = 5.0 applying constraint: initial value of x applying constraint: bounds on Δt linear constraints added: 3 (3.007s) optimizer initialization complete (total: 4.399s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 186 Number of nonzeros in inequality constraint Jacobian.: 0 Number of nonzeros in Lagrangian Hessian.............: 356 Total number of variables............................: 48 variables with only lower bounds: 0 variables with lower and upper bounds: 10 variables with only upper bounds: 0 Total number of equality constraints.................: 19 Total number of inequality constraints...............: 0 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 0 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6326154e+00 1.10e+00 1.03e+00 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.6675029e+00 3.39e-01 1.39e+00 -1.0 7.67e-01 0.0 9.52e-01 7.06e-01h 1 2 1.7731681e+00 1.55e-01 1.71e+00 -1.1 5.16e-01 -0.5 8.06e-01 8.12e-01h 1 3 1.8764851e+00 9.24e-02 4.68e-01 -0.8 1.38e+00 -1.0 7.19e-01 4.84e-01f 1 4 1.6030792e+00 7.35e-02 1.34e+00 -1.4 7.11e+00 - 9.63e-01 1.00e+00f 1 5 1.1172118e+00 1.32e-02 2.48e-01 -2.3 2.68e-01 -1.4 1.00e+00 9.03e-01f 1 6 1.0952446e+00 7.50e-04 3.03e-01 -3.6 5.18e+00 - 1.00e+00 1.00e+00h 1 7 1.0915748e+00 1.34e-04 6.48e-02 -4.0 1.92e+00 - 1.00e+00 8.19e-01h 1 8 1.0910302e+00 7.95e-08 3.12e-03 -4.0 4.53e-01 - 1.00e+00 1.00e+00h 1 9 1.0910386e+00 2.93e-13 3.51e-05 -4.0 1.11e-02 - 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 1.0910386e+00 8.88e-16 3.49e-05 -4.0 1.42e-05 - 1.00e+00 1.00e+00h 1 11 1.0910386e+00 4.26e-34 3.48e-05 -4.0 5.51e-11 - 1.00e+00 1.00e+00h 1 12 1.0908587e+00 1.78e-15 3.20e-09 -4.1 1.99e-05 - 1.00e+00 1.00e+00f 1 13 1.0910386e+00 8.88e-16 3.64e-09 -4.0 1.99e-05 - 1.00e+00 1.00e+00f 1 Number of Iterations....: 13 (scaled) (unscaled) Objective...............: 1.0910385864123910e+00 1.0910385864123910e+00 Dual infeasibility......: 3.6374027539975984e-09 3.6374027539975984e-09 Constraint violation....: 8.8817841970012523e-16 8.8817841970012523e-16 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000114091619609e-04 1.0000114091619609e-04 Overall NLP error.......: 3.6374027539975984e-09 3.6374027539975984e-09 Number of objective function evaluations = 14 Number of objective gradient evaluations = 14 Number of equality constraint evaluations = 14 Number of inequality constraint evaluations = 0 Number of equality constraint Jacobian evaluations = 14 Number of inequality constraint Jacobian evaluations = 0 Number of Lagrangian Hessian evaluations = 13 Total seconds in IPOPT = 23.075 EXIT: Optimal Solution Found. [test_integrator] Starting... [test_integrator] constraint_dim=36, datavec_len=110, global_len=0 [test_integrator] Testing evaluate!... [test_integrator] Computing analytic Jacobian... [test_integrator] Computing finite diff Jacobian... [test_integrator] Testing Jacobian... [test_integrator] Computing analytic Hessian... [test_integrator] Computing finite diff Hessian... [test_integrator] Testing Hessian... [test_integrator] Done! initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.797s jacobian structure: 1600 nonzeros (2.861s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.071s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.12s) linear index maps built (0.0s) evaluator ready (total: 6.982s) evaluator created (7.009s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.024s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6230810e+00 2.27e+00 6.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8732416e+00 1.22e+00 5.00e+00 -0.8 2.01e+00 0.0 9.51e-01 4.61e-01f 1 Hello, world! 2 2.0254827e+00 9.21e-01 5.96e+00 -4.0 7.80e+00 -0.5 7.70e-02 2.45e-01h 1 Hello, world! 3 2.6040008e+00 8.42e-01 4.16e+00 -0.6 3.24e+00 -1.0 4.16e-01 6.76e-01f 1 Hello, world! 4 2.4552287e+00 3.39e-01 1.83e+01 -1.8 1.17e+00 -0.5 1.99e-01 5.98e-01h 1 Hello, world! 5 2.3139017e+00 4.99e-02 3.35e+00 -2.2 8.00e-01 -1.0 5.71e-01 9.81e-01h 1 Hello, world! 6 2.2094113e+00 1.68e-02 5.52e-01 -1.7 5.12e-01 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.1360892e+00 4.79e-03 8.13e-02 -2.7 8.92e-02 -2.0 9.98e-01 7.05e-01h 1 Hello, world! 8 2.0917385e+00 4.16e-04 6.29e-03 -4.0 4.51e-02 -2.4 1.00e+00 9.88e-01h 1 Hello, world! 9 2.0908957e+00 3.45e-06 1.07e-03 -4.0 1.64e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908898e+00 4.00e-08 8.61e-05 -4.0 4.56e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908792e+00 7.72e-09 9.52e-04 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908515e+00 4.89e-08 1.91e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907794e+00 3.12e-07 3.85e-04 -4.0 9.63e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905739e+00 2.99e-06 5.32e-04 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908102e+00 2.69e-05 5.04e-03 -2.0 1.88e+03 -5.8 1.22e-03 1.13e-03f 2 Hello, world! 16 2.0904866e+00 1.63e-05 7.45e-02 -4.1 2.43e+01 -6.3 1.00e+00 1.44e-01h 2 Hello, world! 17 2.0868939e+00 1.36e-03 3.86e-02 -4.0 7.46e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828570e+00 5.35e-03 1.09e-01 -4.0 1.35e+02 -7.2 1.00e+00 9.76e-01h 1 Hello, world! 19 2.0832060e+00 4.11e-03 8.05e-02 -4.0 1.09e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0820298e+00 1.89e-03 1.38e-02 -4.0 1.24e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0818922e+00 5.36e-04 9.51e-03 -4.0 8.10e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0818463e+00 5.86e-05 8.65e-04 -4.0 3.67e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0818434e+00 1.09e-06 2.69e-05 -4.0 6.78e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0818434e+00 3.63e-09 1.34e-07 -4.0 4.63e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818434e+00 1.60e-12 1.00e-09 -4.0 1.13e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0818434105355568e+00 2.0818434105355568e+00 Dual infeasibility......: 1.0000000040950559e-09 1.0000000040950559e-09 Constraint violation....: 1.5996093338799255e-12 1.5996093338799255e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000040950559e-09 1.0000000040950559e-09 Number of objective function evaluations = 31 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 31 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.460 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.6230810e+00 2.27e+00 6.85e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 1.8732416e+00 1.22e+00 5.00e+00 -0.8 2.01e+00 0.0 9.51e-01 4.61e-01f 1 Hello, world! 2 2.0254827e+00 9.21e-01 5.96e+00 -4.0 7.80e+00 -0.5 7.70e-02 2.45e-01h 1 Hello, world! 3 2.6040008e+00 8.42e-01 4.16e+00 -0.6 3.24e+00 -1.0 4.16e-01 6.76e-01f 1 Hello, world! 4 2.4552287e+00 3.39e-01 1.83e+01 -1.8 1.17e+00 -0.5 1.99e-01 5.98e-01h 1 Hello, world! 5 2.3139017e+00 4.99e-02 3.35e+00 -2.2 8.00e-01 -1.0 5.71e-01 9.81e-01h 1 Hello, world! 6 2.2094113e+00 1.68e-02 5.52e-01 -1.7 5.12e-01 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 7 2.1360892e+00 4.79e-03 8.13e-02 -2.7 8.92e-02 -2.0 9.98e-01 7.05e-01h 1 Hello, world! 8 2.0917385e+00 4.16e-04 6.29e-03 -4.0 4.51e-02 -2.4 1.00e+00 9.88e-01h 1 Hello, world! 9 2.0908957e+00 3.45e-06 1.07e-03 -4.0 1.64e-02 -2.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908898e+00 4.00e-08 8.61e-05 -4.0 4.56e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 11 2.0908792e+00 7.72e-09 9.52e-04 -4.0 1.30e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 12 2.0908515e+00 4.89e-08 1.91e-04 -4.0 3.59e-01 -4.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0907794e+00 3.12e-07 3.85e-04 -4.0 9.63e-01 -4.8 1.00e+00 1.00e+00h 1 Hello, world! 14 2.0905739e+00 2.99e-06 5.32e-04 -4.0 2.95e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0908102e+00 2.69e-05 5.04e-03 -2.0 1.88e+03 -5.8 1.22e-03 1.13e-03f 2 Hello, world! 16 2.0904866e+00 1.63e-05 7.45e-02 -4.1 2.43e+01 -6.3 1.00e+00 1.44e-01h 2 Hello, world! 17 2.0868939e+00 1.36e-03 3.86e-02 -4.0 7.46e+01 -6.7 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0828570e+00 5.35e-03 1.09e-01 -4.0 1.35e+02 -7.2 1.00e+00 9.76e-01h 1 Hello, world! 19 2.0832060e+00 4.11e-03 8.05e-02 -4.0 1.09e+02 -7.7 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0820298e+00 1.89e-03 1.38e-02 -4.0 1.24e+02 -8.2 1.00e+00 1.00e+00h 1 Hello, world! 21 2.0818922e+00 5.36e-04 9.51e-03 -4.0 8.10e+01 -8.6 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0818463e+00 5.86e-05 8.65e-04 -4.0 3.67e+01 -9.1 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0818434e+00 1.09e-06 2.69e-05 -4.0 6.78e+00 -9.6 1.00e+00 1.00e+00h 1 Hello, world! 24 2.0818434e+00 3.63e-09 1.34e-07 -4.0 4.63e-01 -10.1 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0818434e+00 1.60e-12 1.00e-09 -4.0 1.13e-02 -10.5 1.00e+00 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0818434105355568e+00 2.0818434105355568e+00 Dual infeasibility......: 1.0000000040950559e-09 1.0000000040950559e-09 Constraint violation....: 1.5996093338799255e-12 1.5996093338799255e-12 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000000002e-04 1.0000000000000002e-04 Overall NLP error.......: 1.0000000040950559e-09 1.0000000040950559e-09 Number of objective function evaluations = 31 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 31 Number of inequality constraint evaluations = 31 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.528 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.061s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.909s jacobian structure: 1600 nonzeros (2.971s) integrator 1 hessian structure: 0.052s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.036s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.09s) linear index maps built (0.0s) evaluator ready (total: 7.061s) evaluator created (7.089s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.091s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2751899e+00 2.43e+00 5.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6632429e+00 7.43e-02 5.26e+00 -0.8 1.99e+00 0.0 2.80e-01 1.00e+00f 1 2 2.7374567e+00 5.18e-02 3.88e+00 -0.7 1.42e+00 -0.5 9.78e-01 3.32e-01h 1 3 2.5828834e+00 1.10e-01 1.37e+00 -1.0 1.17e+00 -1.0 9.93e-01 8.59e-01h 1 4 2.3379049e+00 2.81e-02 7.82e-02 -1.6 3.47e-01 -1.4 9.84e-01 1.00e+00h 1 5 2.1336801e+00 7.24e-03 5.06e-02 -2.5 1.93e-01 -1.9 8.36e-01 9.07e-01h 1 6 2.0927228e+00 2.78e-04 9.99e-03 -3.5 3.75e-02 -2.4 9.13e-01 9.89e-01h 1 7 2.0908584e+00 4.96e-06 1.25e-04 -4.0 1.13e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908483e+00 3.44e-08 2.59e-05 -4.0 3.54e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908390e+00 3.30e-09 1.59e-05 -4.0 1.04e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908146e+00 3.04e-08 2.82e-05 -4.0 3.01e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907484e+00 2.66e-07 1.25e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905436e+00 2.11e-06 3.60e-04 -4.0 2.53e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904668e+00 3.70e-07 2.37e-04 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900960e+00 1.12e-09 1.42e-03 -4.0 3.58e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895476e+00 4.12e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888399e+00 3.88e-05 5.43e-02 -4.0 1.12e+01 -5.4 1.00e+00 3.47e-01h 1 17 2.0880491e+00 3.75e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867304e+00 9.54e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.42e-01h 1 19 2.0838278e+00 8.60e-04 4.24e-02 -4.0 5.05e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827466e+00 3.02e-04 9.38e-03 -4.0 5.50e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825265e+00 8.94e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0839374e+00 2.66e-05 1.98e-01 -4.0 1.65e+02 -7.3 3.29e-01 1.00e+00H 1 23 2.0884403e+00 6.02e-03 1.99e+00 -2.7 2.27e+01 -5.1 9.62e-01 3.43e-01f 1 24 2.0882407e+00 4.16e-03 4.35e-01 -2.8 7.66e+00 -5.6 6.62e-01 3.31e-01h 1 25 2.0964239e+00 3.18e-02 6.66e-01 -2.8 7.37e+01 -6.0 3.31e-01 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0964238914832625e+00 2.0964238914832625e+00 Dual infeasibility......: 6.6618410629368052e-01 6.6618410629368052e-01 Constraint violation....: 3.1807060679166776e-02 3.1807060679166776e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.3862833940763414e-03 7.3862833940763414e-03 Overall NLP error.......: 6.6618410629368052e-01 6.6618410629368052e-01 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 28.921 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2751899e+00 2.43e+00 5.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6632429e+00 7.43e-02 5.26e+00 -0.8 1.99e+00 0.0 2.80e-01 1.00e+00f 1 2 2.7374567e+00 5.18e-02 3.88e+00 -0.7 1.42e+00 -0.5 9.78e-01 3.32e-01h 1 3 2.5828834e+00 1.10e-01 1.37e+00 -1.0 1.17e+00 -1.0 9.93e-01 8.59e-01h 1 4 2.3379049e+00 2.81e-02 7.82e-02 -1.6 3.47e-01 -1.4 9.84e-01 1.00e+00h 1 5 2.1336801e+00 7.24e-03 5.06e-02 -2.5 1.93e-01 -1.9 8.36e-01 9.07e-01h 1 6 2.0927228e+00 2.78e-04 9.99e-03 -3.5 3.75e-02 -2.4 9.13e-01 9.89e-01h 1 7 2.0908584e+00 4.96e-06 1.25e-04 -4.0 1.13e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908483e+00 3.44e-08 2.59e-05 -4.0 3.54e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908390e+00 3.30e-09 1.59e-05 -4.0 1.04e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908146e+00 3.04e-08 2.82e-05 -4.0 3.01e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907484e+00 2.66e-07 1.25e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905436e+00 2.11e-06 3.60e-04 -4.0 2.53e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904668e+00 3.70e-07 2.37e-04 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900960e+00 1.12e-09 1.42e-03 -4.0 3.58e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895476e+00 4.12e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888399e+00 3.88e-05 5.43e-02 -4.0 1.12e+01 -5.4 1.00e+00 3.47e-01h 1 17 2.0880491e+00 3.75e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867304e+00 9.54e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.42e-01h 1 19 2.0838278e+00 8.60e-04 4.24e-02 -4.0 5.05e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827466e+00 3.02e-04 9.38e-03 -4.0 5.50e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825265e+00 8.94e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0839374e+00 2.66e-05 1.98e-01 -4.0 1.65e+02 -7.3 3.29e-01 1.00e+00H 1 23 2.0884403e+00 6.02e-03 1.99e+00 -2.7 2.27e+01 -5.1 9.62e-01 3.43e-01f 1 24 2.0882407e+00 4.16e-03 4.35e-01 -2.8 7.66e+00 -5.6 6.62e-01 3.31e-01h 1 25 2.0964239e+00 3.18e-02 6.66e-01 -2.8 7.37e+01 -6.0 3.31e-01 1.00e+00f 1 26 2.0963851e+00 2.44e-03 5.92e-02 -2.8 5.07e+00 -5.6 1.00e+00 1.00e+00h 1 27 2.0975884e+00 1.65e-03 7.05e-03 -2.8 1.78e+01 -6.1 1.00e+00 1.00e+00h 1 28 2.0836088e+00 4.51e-02 8.40e-02 -4.2 3.46e+01 -6.6 6.75e-01 1.00e+00h 1 29 2.0930611e+00 4.21e-02 3.74e-01 -4.2 3.73e+02 -6.1 7.90e-03 6.45e-02h 2 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0911710e+00 3.90e-02 2.00e+00 -4.2 5.86e-01 -1.2 2.04e-01 7.36e-02h 1 31 2.0866599e+00 1.92e-05 2.38e-01 -4.2 1.22e-01 -0.8 6.65e-01 1.00e+00h 1 32 2.0848692e+00 8.43e-06 1.35e-01 -4.2 7.08e-02 -1.2 1.00e+00 9.43e-01h 1 33 2.0839055e+00 4.53e-05 5.05e-03 -4.0 1.14e-01 -1.7 1.00e+00 1.00e+00f 1 34 2.0834743e+00 2.45e-05 3.05e-01 -4.0 1.02e-01 -2.2 1.00e+00 4.07e-01h 1 35 2.0833906e+00 3.71e-06 4.37e-04 -4.0 2.05e-02 -2.7 1.00e+00 1.00e+00h 1 36 2.0833972e+00 4.87e-07 8.12e-06 -4.0 1.16e-02 -3.2 1.00e+00 1.00e+00h 1 37 2.0833955e+00 1.10e-08 8.08e-06 -4.0 3.45e-02 -3.6 1.00e+00 1.00e+00h 1 38 2.0833901e+00 4.94e-09 8.07e-06 -4.0 1.03e-01 -4.1 1.00e+00 1.00e+00h 1 39 2.0833741e+00 4.57e-08 8.04e-06 -4.0 3.09e-01 -4.6 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0833265e+00 3.84e-07 1.97e-05 -4.0 9.14e-01 -5.1 1.00e+00 1.00e+00h 1 41 2.0831887e+00 2.79e-06 1.59e-04 -4.0 2.63e+00 -5.5 1.00e+00 1.00e+00h 1 42 2.0828368e+00 1.39e-05 9.86e-04 -4.0 6.76e+00 -6.0 1.00e+00 1.00e+00h 1 43 2.0823358e+00 4.01e-05 3.77e-03 -4.0 1.09e+01 -6.5 1.00e+00 1.00e+00h 1 44 2.0822030e+00 4.36e-05 2.54e-03 -4.0 3.32e+01 -7.0 1.00e+00 1.00e+00h 1 45 2.0839841e+00 5.31e-06 1.59e-01 -4.0 3.36e+01 -6.5 4.12e-01 1.00e+00H 1 46 2.0826271e+00 1.06e-05 1.04e+00 -4.1 6.63e-01 -1.6 1.06e-01 2.57e-01h 1 47 2.0832401e+00 1.30e-05 1.10e+00 -4.0 1.81e+00 -2.1 8.76e-01 6.21e-02f 2 48 2.0850858e+00 9.57e-05 1.69e-02 -3.3 2.21e-01 -2.6 1.00e+00 1.00e+00f 1 49 2.0835274e+00 4.29e-05 7.69e-03 -3.3 1.60e-01 -3.0 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0842102e+00 8.71e-06 1.07e-03 -3.3 1.36e-01 -3.5 1.00e+00 1.00e+00f 1 51 2.0829524e+00 1.22e-04 3.43e-01 -5.0 3.26e-01 -4.0 7.04e-01 1.00e+00h 1 52 2.0817484e+00 6.56e-05 1.96e-02 -5.0 3.41e-01 -4.5 8.46e-01 1.00e+00h 1 53 2.0824687e+00 8.08e-05 1.30e-03 -4.0 6.34e-01 -4.9 1.00e+00 1.00e+00h 1 54 2.0821249e+00 6.44e-05 1.62e-04 -4.1 1.77e+00 -5.4 1.00e+00 1.00e+00h 1 55 2.0820679e+00 1.09e-04 1.12e-03 -4.0 5.51e+00 -5.9 1.00e+00 1.00e+00h 1 56 2.0846154e+00 4.06e-07 4.07e-02 -4.1 1.68e+01 -6.4 3.25e-01 1.00e+00H 1 57 2.0837292e+00 5.87e-07 3.38e+00 -4.1 4.07e-01 -1.4 5.53e-01 1.38e-01f 1 58 2.0830514e+00 9.34e-06 7.72e+00 -4.1 3.99e-01 -1.9 1.00e+00 1.85e-01f 1 59 2.0821068e+00 6.56e-06 1.86e+00 -4.1 8.66e-02 -2.4 8.13e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 60 2.0815519e+00 3.40e-06 1.18e+00 -4.0 1.65e-01 -2.9 3.70e-01 3.87e-01h 1 61 2.0818266e+00 3.41e-06 7.13e-04 -4.0 4.45e-02 -3.3 1.00e+00 1.00e+00h 1 62 2.0818500e+00 1.85e-06 1.03e-04 -4.0 1.02e-01 -3.8 1.00e+00 1.00e+00h 1 63 2.0818740e+00 5.24e-07 4.41e-05 -4.0 2.75e-01 -4.3 1.00e+00 1.00e+00h 1 64 2.0819237e+00 2.20e-06 2.12e-04 -4.0 6.27e-01 -4.8 1.00e+00 1.00e+00h 1 65 2.0818484e+00 1.25e-05 4.20e-04 -4.1 7.12e-01 -5.2 1.00e+00 1.00e+00h 1 66 2.0811356e+00 2.60e-04 5.82e-03 -6.1 3.51e+00 -5.7 9.41e-01 8.92e-01h 1 67 2.0810696e+00 5.25e-05 1.39e-02 -4.8 2.81e+00 -6.2 1.00e+00 7.67e-01h 1 68 2.0820507e+00 2.01e-03 4.12e-02 -4.0 1.86e+01 -6.7 6.49e-01 1.00e+00f 1 69 2.0815714e+00 7.86e-04 5.28e-03 -4.2 1.51e+01 -7.2 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 70 2.0854714e+00 4.13e-04 2.46e-01 -4.2 8.70e+00 -5.8 5.21e-01 1.00e+00h 1 71 2.0837381e+00 2.32e-04 8.35e-01 -4.2 1.13e-01 -0.9 1.00e+00 4.39e-01h 1 72 2.0830308e+00 2.02e-06 2.58e+00 -4.2 7.93e-02 -1.4 4.94e-01 1.00e+00f 1 73 2.0826973e+00 3.48e-07 4.12e-03 -4.2 3.35e-02 -0.9 1.00e+00 1.00e+00h 1 74 2.0825953e+00 2.32e-07 2.88e-03 -4.0 7.37e-02 -1.4 1.00e+00 1.00e+00h 1 75 2.0819219e+00 2.58e-06 3.07e-03 -4.0 2.09e-01 -1.9 1.00e+00 1.00e+00h 1 Number of Iterations....: 75 (scaled) (unscaled) Objective...............: 2.0819219295418039e+00 2.0819219295418039e+00 Dual infeasibility......: 3.0689186631418642e-03 3.0689186631418642e-03 Constraint violation....: 2.5829928504937649e-06 2.5829928504937649e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000003266189e-04 1.0000000003266189e-04 Overall NLP error.......: 3.0689186631418642e-03 3.0689186631418642e-03 Number of objective function evaluations = 84 Number of objective gradient evaluations = 76 Number of equality constraint evaluations = 84 Number of inequality constraint evaluations = 84 Number of equality constraint Jacobian evaluations = 76 Number of inequality constraint Jacobian evaluations = 76 Number of Lagrangian Hessian evaluations = 75 Total seconds in IPOPT = 1.103 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.002s) linear index maps built (0.0s) evaluator ready (total: 0.003s) evaluator created (0.003s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.004s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 2.2751899e+00 2.43e+00 5.41e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.6632429e+00 7.43e-02 5.26e+00 -0.8 1.99e+00 0.0 2.80e-01 1.00e+00f 1 2 2.7374567e+00 5.18e-02 3.88e+00 -0.7 1.42e+00 -0.5 9.78e-01 3.32e-01h 1 3 2.5828834e+00 1.10e-01 1.37e+00 -1.0 1.17e+00 -1.0 9.93e-01 8.59e-01h 1 4 2.3379049e+00 2.81e-02 7.82e-02 -1.6 3.47e-01 -1.4 9.84e-01 1.00e+00h 1 5 2.1336801e+00 7.24e-03 5.06e-02 -2.5 1.93e-01 -1.9 8.36e-01 9.07e-01h 1 6 2.0927228e+00 2.78e-04 9.99e-03 -3.5 3.75e-02 -2.4 9.13e-01 9.89e-01h 1 7 2.0908584e+00 4.96e-06 1.25e-04 -4.0 1.13e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0908483e+00 3.44e-08 2.59e-05 -4.0 3.54e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0908390e+00 3.30e-09 1.59e-05 -4.0 1.04e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908146e+00 3.04e-08 2.82e-05 -4.0 3.01e-01 -4.3 1.00e+00 1.00e+00h 1 11 2.0907484e+00 2.66e-07 1.25e-04 -4.0 8.53e-01 -4.8 1.00e+00 1.00e+00h 1 12 2.0905436e+00 2.11e-06 3.60e-04 -4.0 2.53e+00 -5.2 1.00e+00 1.00e+00h 1 13 2.0904668e+00 3.70e-07 2.37e-04 -4.0 1.02e+00 -4.8 1.00e+00 1.00e+00h 1 14 2.0900960e+00 1.12e-09 1.42e-03 -4.0 3.58e+00 -5.3 1.00e+00 1.00e+00H 1 15 2.0895476e+00 4.12e-05 1.03e-02 -4.0 1.05e+01 -5.8 1.00e+00 1.00e+00f 1 16 2.0888399e+00 3.88e-05 5.43e-02 -4.0 1.12e+01 -5.4 1.00e+00 3.47e-01h 1 17 2.0880491e+00 3.75e-05 1.16e-02 -4.0 1.08e+01 -5.8 1.00e+00 1.00e+00h 1 18 2.0867304e+00 9.54e-05 4.11e-02 -4.0 2.80e+01 -6.3 1.00e+00 5.42e-01h 1 19 2.0838278e+00 8.60e-04 4.24e-02 -4.0 5.05e+01 -6.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0827466e+00 3.02e-04 9.38e-03 -4.0 5.50e+01 -7.3 1.00e+00 6.08e-01h 1 21 2.0825265e+00 8.94e-04 2.80e-02 -4.0 1.32e+02 -7.7 1.00e+00 1.00e+00h 1 22 2.0839374e+00 2.66e-05 1.98e-01 -4.0 1.65e+02 -7.3 3.29e-01 1.00e+00H 1 23 2.0884403e+00 6.02e-03 1.99e+00 -2.7 2.27e+01 -5.1 9.62e-01 3.43e-01f 1 24 2.0882407e+00 4.16e-03 4.35e-01 -2.8 7.66e+00 -5.6 6.62e-01 3.31e-01h 1 25 2.0964239e+00 3.18e-02 6.66e-01 -2.8 7.37e+01 -6.0 3.31e-01 1.00e+00f 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0964238914832625e+00 2.0964238914832625e+00 Dual infeasibility......: 6.6618410629368052e-01 6.6618410629368052e-01 Constraint violation....: 3.1807060679166776e-02 3.1807060679166776e-02 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 7.3862833940763414e-03 7.3862833940763414e-03 Overall NLP error.......: 6.6618410629368052e-01 6.6618410629368052e-01 Number of objective function evaluations = 28 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 28 Number of inequality constraint evaluations = 28 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 0.356 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.076s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.021s jacobian structure: 1600 nonzeros (3.098s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.216s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.267s) linear index maps built (0.0s) evaluator ready (total: 7.365s) evaluator created (7.393s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.394s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5485002e+00 3.97e+00 7.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7366077e+00 8.86e-02 6.11e-01 -1.0 2.32e+00 -2.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.3343849e+00 1.53e-01 4.66e-01 -1.6 1.58e+00 -2.5 7.61e-01 1.00e+00h 1 Hello, world! 3 2.1684959e+00 3.66e-02 1.25e-01 -2.1 1.02e+00 -3.0 9.96e-01 1.00e+00h 1 Hello, world! 4 2.0964531e+00 3.42e-03 1.63e-02 -3.4 3.76e-01 -3.4 9.87e-01 9.90e-01h 1 Hello, world! 5 2.0908446e+00 1.71e-04 8.65e-04 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908072e+00 1.50e-06 7.00e-05 -4.0 3.89e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907282e+00 3.98e-07 4.00e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904988e+00 3.54e-06 3.34e-04 -4.0 3.17e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904031e+00 5.07e-07 3.77e-04 -4.0 1.22e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902479e+00 1.34e-06 1.14e-02 -4.0 4.52e+00 -5.4 1.00e+00 3.48e-01h 2 Hello, world! 11 2.0892549e+00 4.19e-05 2.48e-03 -4.0 1.14e+01 -5.9 1.00e+00 9.81e-01h 1 Hello, world! 12 2.0874904e+00 3.40e-04 3.73e-02 -4.0 3.13e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861647e+00 3.30e-04 2.19e-01 -4.0 5.19e+01 -5.9 1.00e+00 2.00e-01h 1 Hello, world! 14 2.0846221e+00 2.47e-04 2.67e-02 -4.0 2.53e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827833e+00 2.07e-04 2.48e-02 -4.0 3.43e+01 -6.9 1.00e+00 9.54e-01h 1 Hello, world! 16 2.0830809e+00 1.21e-03 3.54e-02 -4.0 6.12e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821322e+00 1.36e-03 9.22e-03 -4.1 1.45e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825085e+00 4.33e-06 7.05e-02 -4.0 1.12e+02 -7.4 4.38e-01 1.00e+00H 1 Hello, world! 19 2.0823067e+00 1.51e-06 3.59e-04 -4.0 4.32e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823099e+00 7.36e-05 2.34e-03 -4.0 2.35e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0819154e+00 1.54e-04 9.75e-04 -4.1 7.21e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0820403e+00 4.78e-05 3.78e-04 -4.0 2.83e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0820506e+00 6.20e-07 9.03e-02 -4.0 1.65e+01 -6.2 5.56e-01 1.00e+00H 1 Hello, world! 24 2.0818934e+00 3.44e-07 1.21e-03 -4.0 9.40e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819388e+00 6.77e-06 4.62e-04 -4.0 2.63e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0818692e+00 1.81e-05 2.70e-04 -4.1 6.86e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0913448e+00 1.85e-06 7.59e-01 -4.0 8.29e+00 -5.4 2.60e-01 1.00e+00H 1 Hello, world! 28 2.0857504e+00 1.40e-06 3.66e-02 -4.2 9.03e-02 -0.4 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0836075e+00 1.91e-06 2.92e-01 -4.2 1.23e-01 -0.9 1.00e+00 5.55e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832323e+00 3.48e-06 3.56e-01 -4.2 8.90e-02 -1.4 5.75e-01 6.70e-01f 1 Hello, world! 31 2.0828976e+00 6.55e-07 4.02e-03 -4.2 3.37e-02 -1.0 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0826908e+00 6.37e-08 2.70e-03 -4.2 7.34e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0823210e+00 1.02e-06 2.15e+00 -4.2 2.87e-01 -1.9 1.00e+00 3.49e-01h 2 Hello, world! 34 2.0822791e+00 7.54e-07 2.03e-03 -4.2 9.53e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820500e+00 4.42e-07 5.28e-04 -4.2 3.08e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0814879e+00 2.53e-06 2.15e-02 -6.2 3.33e-02 -2.4 8.38e-01 1.00e+00h 1 Hello, world! 37 2.0824255e+00 6.59e-06 1.44e-03 -4.0 6.19e-02 -2.9 1.00e+00 1.00e+00f 1 Hello, world! 38 2.0821436e+00 7.84e-07 8.64e-05 -4.1 2.21e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815005e+00 9.77e-06 5.23e-02 -6.1 9.55e-02 -3.9 8.19e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0814101e+00 2.22e-06 4.57e-05 -6.1 2.51e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0823871e+00 1.01e-04 1.65e-03 -4.0 7.19e-01 -4.8 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0826382e+00 8.17e-05 3.68e-01 -4.1 6.34e+00 -5.3 4.28e-01 8.63e-01H 1 Hello, world! 43 2.0818750e+00 1.37e-06 2.49e-03 -4.1 6.76e-02 -2.2 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0827298e+00 2.48e-08 1.27e-02 -4.0 1.73e-01 -1.7 1.00e+00 1.00e+00H 1 Hello, world! 45 2.0820692e+00 9.55e-07 2.38e-03 -4.0 6.81e-02 -1.3 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0819283e+00 2.04e-07 5.58e-04 -4.1 2.51e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0814560e+00 1.84e-06 8.27e-02 -6.1 3.01e-02 -2.3 7.04e-01 1.00e+00h 1 Hello, world! 48 2.0821316e+00 3.87e-06 1.80e-03 -4.0 2.13e-01 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0818784e+00 1.74e-06 4.95e-05 -4.1 2.16e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0813898e+00 5.13e-06 7.46e-02 -6.1 2.24e-01 -3.7 5.82e-01 8.18e-01h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0813897640896308e+00 2.0813897640896308e+00 Dual infeasibility......: 7.4567904171328456e-02 7.4567904171328456e-02 Constraint violation....: 5.1254053285987311e-06 5.1254053285987311e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.4397875934837754e-05 3.4397875934837754e-05 Overall NLP error.......: 7.4567904171328456e-02 7.4567904171328456e-02 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 31.940 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) Hello, world! This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.5485002e+00 3.97e+00 7.71e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 Hello, world! 1 2.7366077e+00 8.86e-02 6.11e-01 -1.0 2.32e+00 -2.0 9.87e-01 1.00e+00h 1 Hello, world! 2 2.3343849e+00 1.53e-01 4.66e-01 -1.6 1.58e+00 -2.5 7.61e-01 1.00e+00h 1 Hello, world! 3 2.1684959e+00 3.66e-02 1.25e-01 -2.1 1.02e+00 -3.0 9.96e-01 1.00e+00h 1 Hello, world! 4 2.0964531e+00 3.42e-03 1.63e-02 -3.4 3.76e-01 -3.4 9.87e-01 9.90e-01h 1 Hello, world! 5 2.0908446e+00 1.71e-04 8.65e-04 -4.0 1.55e-01 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 6 2.0908072e+00 1.50e-06 7.00e-05 -4.0 3.89e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 7 2.0907282e+00 3.98e-07 4.00e-04 -4.0 1.04e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 8 2.0904988e+00 3.54e-06 3.34e-04 -4.0 3.17e+00 -5.3 1.00e+00 1.00e+00h 1 Hello, world! 9 2.0904031e+00 5.07e-07 3.77e-04 -4.0 1.22e+00 -4.9 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0902479e+00 1.34e-06 1.14e-02 -4.0 4.52e+00 -5.4 1.00e+00 3.48e-01h 2 Hello, world! 11 2.0892549e+00 4.19e-05 2.48e-03 -4.0 1.14e+01 -5.9 1.00e+00 9.81e-01h 1 Hello, world! 12 2.0874904e+00 3.40e-04 3.73e-02 -4.0 3.13e+01 -6.3 1.00e+00 1.00e+00h 1 Hello, world! 13 2.0861647e+00 3.30e-04 2.19e-01 -4.0 5.19e+01 -5.9 1.00e+00 2.00e-01h 1 Hello, world! 14 2.0846221e+00 2.47e-04 2.67e-02 -4.0 2.53e+01 -6.4 1.00e+00 1.00e+00h 1 Hello, world! 15 2.0827833e+00 2.07e-04 2.48e-02 -4.0 3.43e+01 -6.9 1.00e+00 9.54e-01h 1 Hello, world! 16 2.0830809e+00 1.21e-03 3.54e-02 -4.0 6.12e+01 -7.4 1.00e+00 1.00e+00h 1 Hello, world! 17 2.0821322e+00 1.36e-03 9.22e-03 -4.1 1.45e+02 -7.8 1.00e+00 1.00e+00h 1 Hello, world! 18 2.0825085e+00 4.33e-06 7.05e-02 -4.0 1.12e+02 -7.4 4.38e-01 1.00e+00H 1 Hello, world! 19 2.0823067e+00 1.51e-06 3.59e-04 -4.0 4.32e-01 -5.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0823099e+00 7.36e-05 2.34e-03 -4.0 2.35e+00 -5.6 1.00e+00 1.00e+00f 1 Hello, world! 21 2.0819154e+00 1.54e-04 9.75e-04 -4.1 7.21e+00 -6.1 1.00e+00 1.00e+00h 1 Hello, world! 22 2.0820403e+00 4.78e-05 3.78e-04 -4.0 2.83e+00 -5.7 1.00e+00 1.00e+00h 1 Hello, world! 23 2.0820506e+00 6.20e-07 9.03e-02 -4.0 1.65e+01 -6.2 5.56e-01 1.00e+00H 1 Hello, world! 24 2.0818934e+00 3.44e-07 1.21e-03 -4.0 9.40e-02 -3.9 1.00e+00 1.00e+00h 1 Hello, world! 25 2.0819388e+00 6.77e-06 4.62e-04 -4.0 2.63e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 26 2.0818692e+00 1.81e-05 2.70e-04 -4.1 6.86e-01 -4.9 1.00e+00 1.00e+00h 1 Hello, world! 27 2.0913448e+00 1.85e-06 7.59e-01 -4.0 8.29e+00 -5.4 2.60e-01 1.00e+00H 1 Hello, world! 28 2.0857504e+00 1.40e-06 3.66e-02 -4.2 9.03e-02 -0.4 1.00e+00 1.00e+00f 1 Hello, world! 29 2.0836075e+00 1.91e-06 2.92e-01 -4.2 1.23e-01 -0.9 1.00e+00 5.55e-01f 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0832323e+00 3.48e-06 3.56e-01 -4.2 8.90e-02 -1.4 5.75e-01 6.70e-01f 1 Hello, world! 31 2.0828976e+00 6.55e-07 4.02e-03 -4.2 3.37e-02 -1.0 1.00e+00 1.00e+00f 1 Hello, world! 32 2.0826908e+00 6.37e-08 2.70e-03 -4.2 7.34e-02 -1.4 1.00e+00 1.00e+00h 1 Hello, world! 33 2.0823210e+00 1.02e-06 2.15e+00 -4.2 2.87e-01 -1.9 1.00e+00 3.49e-01h 2 Hello, world! 34 2.0822791e+00 7.54e-07 2.03e-03 -4.2 9.53e-02 -1.5 1.00e+00 1.00e+00h 1 Hello, world! 35 2.0820500e+00 4.42e-07 5.28e-04 -4.2 3.08e-02 -2.0 1.00e+00 1.00e+00h 1 Hello, world! 36 2.0814879e+00 2.53e-06 2.15e-02 -6.2 3.33e-02 -2.4 8.38e-01 1.00e+00h 1 Hello, world! 37 2.0824255e+00 6.59e-06 1.44e-03 -4.0 6.19e-02 -2.9 1.00e+00 1.00e+00f 1 Hello, world! 38 2.0821436e+00 7.84e-07 8.64e-05 -4.1 2.21e-02 -3.4 1.00e+00 1.00e+00h 1 Hello, world! 39 2.0815005e+00 9.77e-06 5.23e-02 -6.1 9.55e-02 -3.9 8.19e-01 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0814101e+00 2.22e-06 4.57e-05 -6.1 2.51e-01 -4.4 1.00e+00 1.00e+00h 1 Hello, world! 41 2.0823871e+00 1.01e-04 1.65e-03 -4.0 7.19e-01 -4.8 1.00e+00 1.00e+00f 1 Hello, world! 42 2.0826382e+00 8.17e-05 3.68e-01 -4.1 6.34e+00 -5.3 4.28e-01 8.63e-01H 1 Hello, world! 43 2.0818750e+00 1.37e-06 2.49e-03 -4.1 6.76e-02 -2.2 1.00e+00 1.00e+00f 1 Hello, world! 44 2.0827298e+00 2.48e-08 1.27e-02 -4.0 1.73e-01 -1.7 1.00e+00 1.00e+00H 1 Hello, world! 45 2.0820692e+00 9.55e-07 2.38e-03 -4.0 6.81e-02 -1.3 1.00e+00 1.00e+00f 1 Hello, world! 46 2.0819283e+00 2.04e-07 5.58e-04 -4.1 2.51e-02 -1.8 1.00e+00 1.00e+00h 1 Hello, world! 47 2.0814560e+00 1.84e-06 8.27e-02 -6.1 3.01e-02 -2.3 7.04e-01 1.00e+00h 1 Hello, world! 48 2.0821316e+00 3.87e-06 1.80e-03 -4.0 2.13e-01 -2.8 1.00e+00 1.00e+00f 1 Hello, world! 49 2.0818784e+00 1.74e-06 4.95e-05 -4.1 2.16e-02 -3.2 1.00e+00 1.00e+00h 1 Hello, world! iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0813898e+00 5.13e-06 7.46e-02 -6.1 2.24e-01 -3.7 5.82e-01 8.18e-01h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0813897640896308e+00 2.0813897640896308e+00 Dual infeasibility......: 7.4567904171328456e-02 7.4567904171328456e-02 Constraint violation....: 5.1254053285987311e-06 5.1254053285987311e-06 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 3.4397875934837754e-05 3.4397875934837754e-05 Overall NLP error.......: 7.4567904171328456e-02 7.4567904171328456e-02 Number of objective function evaluations = 63 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 63 Number of inequality constraint evaluations = 63 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.660 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.067s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.025s jacobian structure: 1600 nonzeros (3.093s) integrator 1 hessian structure: 0.049s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.172s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.224s) linear index maps built (0.0s) evaluator ready (total: 7.317s) evaluator created (7.344s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.344s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5853180e+00 4.10e+00 9.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7453470e+00 1.25e-01 2.64e+00 -0.9 2.25e+00 0.0 9.81e-01 9.69e-01f 1 2 2.3375392e+00 4.68e-02 1.32e+00 -1.1 1.95e-01 0.4 9.06e-01 6.39e-01h 1 3 2.1866634e+00 1.04e-02 8.36e-01 -1.4 2.32e-01 -0.1 9.89e-01 8.15e-01h 1 4 2.1831666e+00 4.99e-04 6.60e-01 -2.3 2.61e-01 -0.5 9.99e-01 1.00e+00h 1 5 2.1299312e+00 3.54e-04 6.44e-02 -3.2 9.06e-02 -1.0 1.00e+00 2.85e-01h 1 6 2.0953838e+00 1.07e-04 2.68e-02 -4.0 1.98e-02 -1.5 1.00e+00 8.52e-01h 1 7 2.0908690e+00 1.51e-06 4.73e-03 -4.0 6.70e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908935e+00 3.82e-08 3.45e-05 -4.0 9.43e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908916e+00 2.24e-10 1.49e-05 -4.0 1.22e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908886e+00 4.10e-10 1.49e-05 -4.0 3.67e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908803e+00 3.49e-09 1.48e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0906729e+00 6.64e-06 2.72e-05 -4.1 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907779e+00 1.98e-05 8.06e-05 -4.0 9.76e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0902731e+00 6.29e-05 1.31e-03 -4.1 3.31e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900860e+00 2.39e-04 1.08e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0894429e+00 1.75e-05 2.23e-03 -4.0 9.21e-01 -4.4 1.00e+00 9.39e-01h 1 17 2.0894263e+00 2.30e-06 2.01e-03 -4.0 1.47e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0889625e+00 6.96e-06 1.57e-03 -4.0 4.39e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0879902e+00 5.03e-05 2.27e-03 -4.0 1.20e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861501e+00 2.07e-04 2.35e-02 -4.0 2.95e+01 -6.4 1.00e+00 7.89e-01h 1 21 2.0834678e+00 8.11e-04 4.09e-02 -4.0 4.97e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826204e+00 2.36e-04 1.54e-02 -4.0 6.26e+01 -7.3 1.00e+00 7.38e-01h 1 23 2.0823638e+00 5.50e-04 1.35e-02 -4.0 1.50e+02 -7.8 8.73e-01 1.00e+00h 1 24 2.0825948e+00 4.52e-04 1.04e-02 -4.0 2.07e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824807e+00 1.60e-04 9.32e-03 -4.0 4.93e+01 -6.9 6.43e-01 1.00e+00h 1 Number of Iterations....: 25 (scaled) (unscaled) Objective...............: 2.0824806724028591e+00 2.0824806724028591e+00 Dual infeasibility......: 9.3232435212836744e-03 9.3232435212836744e-03 Constraint violation....: 1.5972644863060381e-04 1.5972644863060381e-04 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0137601813139415e-04 1.0137601813139415e-04 Overall NLP error.......: 9.3232435212836744e-03 9.3232435212836744e-03 Number of objective function evaluations = 26 Number of objective gradient evaluations = 26 Number of equality constraint evaluations = 26 Number of inequality constraint evaluations = 26 Number of equality constraint Jacobian evaluations = 26 Number of inequality constraint Jacobian evaluations = 26 Number of Lagrangian Hessian evaluations = 25 Total seconds in IPOPT = 29.684 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.003s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5853180e+00 4.10e+00 9.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7453470e+00 1.25e-01 2.64e+00 -0.9 2.25e+00 0.0 9.81e-01 9.69e-01f 1 2 2.3375392e+00 4.68e-02 1.32e+00 -1.1 1.95e-01 0.4 9.06e-01 6.39e-01h 1 3 2.1866634e+00 1.04e-02 8.36e-01 -1.4 2.32e-01 -0.1 9.89e-01 8.15e-01h 1 4 2.1831666e+00 4.99e-04 6.60e-01 -2.3 2.61e-01 -0.5 9.99e-01 1.00e+00h 1 5 2.1299312e+00 3.54e-04 6.44e-02 -3.2 9.06e-02 -1.0 1.00e+00 2.85e-01h 1 6 2.0953838e+00 1.07e-04 2.68e-02 -4.0 1.98e-02 -1.5 1.00e+00 8.52e-01h 1 7 2.0908690e+00 1.51e-06 4.73e-03 -4.0 6.70e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908935e+00 3.82e-08 3.45e-05 -4.0 9.43e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908916e+00 2.24e-10 1.49e-05 -4.0 1.22e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908886e+00 4.10e-10 1.49e-05 -4.0 3.67e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908803e+00 3.49e-09 1.48e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0906729e+00 6.64e-06 2.72e-05 -4.1 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907779e+00 1.98e-05 8.06e-05 -4.0 9.76e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0902731e+00 6.29e-05 1.31e-03 -4.1 3.31e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900860e+00 2.39e-04 1.08e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0894429e+00 1.75e-05 2.23e-03 -4.0 9.21e-01 -4.4 1.00e+00 9.39e-01h 1 17 2.0894263e+00 2.30e-06 2.01e-03 -4.0 1.47e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0889625e+00 6.96e-06 1.57e-03 -4.0 4.39e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0879902e+00 5.03e-05 2.27e-03 -4.0 1.20e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861501e+00 2.07e-04 2.35e-02 -4.0 2.95e+01 -6.4 1.00e+00 7.89e-01h 1 21 2.0834678e+00 8.11e-04 4.09e-02 -4.0 4.97e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826204e+00 2.36e-04 1.54e-02 -4.0 6.26e+01 -7.3 1.00e+00 7.38e-01h 1 23 2.0823638e+00 5.50e-04 1.35e-02 -4.0 1.50e+02 -7.8 8.73e-01 1.00e+00h 1 24 2.0825948e+00 4.52e-04 1.04e-02 -4.0 2.07e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824807e+00 1.60e-04 9.32e-03 -4.0 4.93e+01 -6.9 6.43e-01 1.00e+00h 1 26 2.0823788e+00 1.14e-04 2.77e-02 -4.0 8.00e-01 -4.7 1.00e+00 9.60e-01h 1 27 2.0823225e+00 1.21e-04 5.45e-04 -4.0 1.85e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0837115e+00 3.64e-05 3.25e-02 -4.0 5.95e+00 -5.7 3.83e-01 7.35e-01h 1 29 2.0825611e+00 1.62e-05 3.33e-01 -4.0 2.18e+00 -6.1 1.59e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824021e+00 1.55e-05 3.29e+00 -4.0 3.52e+00 -2.1 1.34e-01 3.80e-02h 1 31 2.0821520e+00 5.68e-06 4.84e-01 -4.0 3.17e-02 -1.7 1.00e+00 6.33e-01h 1 32 2.0822543e+00 2.28e-06 3.00e-04 -4.0 3.48e-02 -2.1 1.00e+00 1.00e+00f 1 33 2.0822530e+00 1.73e-07 2.26e-05 -4.0 1.55e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0822575e+00 1.26e-07 1.07e-05 -4.0 1.35e-02 -3.1 1.00e+00 1.00e+00h 1 35 2.0822603e+00 1.20e-07 1.09e-05 -4.0 4.15e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0822668e+00 7.69e-07 1.14e-05 -4.0 1.30e-01 -4.1 1.00e+00 1.00e+00h 1 37 2.0821279e+00 1.70e-05 1.14e-04 -4.1 3.21e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0823291e+00 1.75e-04 2.48e-03 -4.0 1.75e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0821520e+00 5.99e-07 5.55e-03 -4.1 1.86e+00 -5.5 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822811e+00 8.43e-05 1.80e-03 -4.0 1.72e+00 -6.0 1.00e+00 1.00e+00f 1 41 2.0820310e+00 3.54e-04 1.72e-03 -4.1 7.39e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0821742e+00 1.94e-04 2.11e-03 -4.0 9.02e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0818400e+00 6.69e-04 5.71e-04 -4.1 2.78e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819510e+00 9.86e-04 5.28e-03 -4.0 4.20e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816116e+00 1.47e-03 4.68e-03 -4.1 5.93e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818476e+00 1.10e-03 1.50e-03 -4.0 4.66e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0815838e+00 3.96e-04 1.59e-04 -4.1 1.70e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818444e+00 1.84e-04 2.99e-05 -4.0 8.36e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0818434e+00 2.58e-08 5.67e-08 -4.0 3.40e-01 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818434e+00 2.16e-13 1.00e-09 -4.0 2.90e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818434105342223e+00 2.0818434105342223e+00 Dual infeasibility......: 1.0000000008153443e-09 1.0000000008153443e-09 Constraint violation....: 2.1643797865067427e-13 2.1643797865067427e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000451247e-04 1.0000000000451247e-04 Overall NLP error.......: 1.0000000008153443e-09 1.0000000008153443e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.644 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.0s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 0.0s jacobian structure: 1600 nonzeros (0.001s) integrator 1 hessian structure: 0.0s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 0.0s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (0.001s) linear index maps built (0.0s) evaluator ready (total: 0.002s) evaluator created (0.002s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 0.002s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 4.5853180e+00 4.10e+00 9.02e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 2.7453470e+00 1.25e-01 2.64e+00 -0.9 2.25e+00 0.0 9.81e-01 9.69e-01f 1 2 2.3375392e+00 4.68e-02 1.32e+00 -1.1 1.95e-01 0.4 9.06e-01 6.39e-01h 1 3 2.1866634e+00 1.04e-02 8.36e-01 -1.4 2.32e-01 -0.1 9.89e-01 8.15e-01h 1 4 2.1831666e+00 4.99e-04 6.60e-01 -2.3 2.61e-01 -0.5 9.99e-01 1.00e+00h 1 5 2.1299312e+00 3.54e-04 6.44e-02 -3.2 9.06e-02 -1.0 1.00e+00 2.85e-01h 1 6 2.0953838e+00 1.07e-04 2.68e-02 -4.0 1.98e-02 -1.5 1.00e+00 8.52e-01h 1 7 2.0908690e+00 1.51e-06 4.73e-03 -4.0 6.70e-03 -2.0 1.00e+00 1.00e+00h 1 8 2.0908935e+00 3.82e-08 3.45e-05 -4.0 9.43e-03 -2.4 1.00e+00 1.00e+00h 1 9 2.0908916e+00 2.24e-10 1.49e-05 -4.0 1.22e-02 -2.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908886e+00 4.10e-10 1.49e-05 -4.0 3.67e-02 -3.4 1.00e+00 1.00e+00h 1 11 2.0908803e+00 3.49e-09 1.48e-05 -4.0 1.10e-01 -3.9 1.00e+00 1.00e+00h 1 12 2.0906729e+00 6.64e-06 2.72e-05 -4.1 3.33e-01 -4.3 1.00e+00 1.00e+00h 1 13 2.0907779e+00 1.98e-05 8.06e-05 -4.0 9.76e-01 -4.8 1.00e+00 1.00e+00h 1 14 2.0902731e+00 6.29e-05 1.31e-03 -4.1 3.31e+00 -5.3 1.00e+00 1.00e+00h 1 15 2.0900860e+00 2.39e-04 1.08e-02 -4.0 1.04e+01 -5.8 1.00e+00 1.00e+00h 1 16 2.0894429e+00 1.75e-05 2.23e-03 -4.0 9.21e-01 -4.4 1.00e+00 9.39e-01h 1 17 2.0894263e+00 2.30e-06 2.01e-03 -4.0 1.47e+00 -4.9 1.00e+00 1.00e+00h 1 18 2.0889625e+00 6.96e-06 1.57e-03 -4.0 4.39e+00 -5.4 1.00e+00 1.00e+00h 1 19 2.0879902e+00 5.03e-05 2.27e-03 -4.0 1.20e+01 -5.9 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 20 2.0861501e+00 2.07e-04 2.35e-02 -4.0 2.95e+01 -6.4 1.00e+00 7.89e-01h 1 21 2.0834678e+00 8.11e-04 4.09e-02 -4.0 4.97e+01 -6.8 1.00e+00 1.00e+00h 1 22 2.0826204e+00 2.36e-04 1.54e-02 -4.0 6.26e+01 -7.3 1.00e+00 7.38e-01h 1 23 2.0823638e+00 5.50e-04 1.35e-02 -4.0 1.50e+02 -7.8 8.73e-01 1.00e+00h 1 24 2.0825948e+00 4.52e-04 1.04e-02 -4.0 2.07e+01 -6.5 1.00e+00 1.00e+00h 1 25 2.0824807e+00 1.60e-04 9.32e-03 -4.0 4.93e+01 -6.9 6.43e-01 1.00e+00h 1 26 2.0823788e+00 1.14e-04 2.77e-02 -4.0 8.00e-01 -4.7 1.00e+00 9.60e-01h 1 27 2.0823225e+00 1.21e-04 5.45e-04 -4.0 1.85e+00 -5.2 1.00e+00 1.00e+00h 1 28 2.0837115e+00 3.64e-05 3.25e-02 -4.0 5.95e+00 -5.7 3.83e-01 7.35e-01h 1 29 2.0825611e+00 1.62e-05 3.33e-01 -4.0 2.18e+00 -6.1 1.59e-01 1.00e+00f 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 30 2.0824021e+00 1.55e-05 3.29e+00 -4.0 3.52e+00 -2.1 1.34e-01 3.80e-02h 1 31 2.0821520e+00 5.68e-06 4.84e-01 -4.0 3.17e-02 -1.7 1.00e+00 6.33e-01h 1 32 2.0822543e+00 2.28e-06 3.00e-04 -4.0 3.48e-02 -2.1 1.00e+00 1.00e+00f 1 33 2.0822530e+00 1.73e-07 2.26e-05 -4.0 1.55e-02 -2.6 1.00e+00 1.00e+00h 1 34 2.0822575e+00 1.26e-07 1.07e-05 -4.0 1.35e-02 -3.1 1.00e+00 1.00e+00h 1 35 2.0822603e+00 1.20e-07 1.09e-05 -4.0 4.15e-02 -3.6 1.00e+00 1.00e+00h 1 36 2.0822668e+00 7.69e-07 1.14e-05 -4.0 1.30e-01 -4.1 1.00e+00 1.00e+00h 1 37 2.0821279e+00 1.70e-05 1.14e-04 -4.1 3.21e-01 -4.5 1.00e+00 1.00e+00h 1 38 2.0823291e+00 1.75e-04 2.48e-03 -4.0 1.75e+00 -5.0 1.00e+00 1.00e+00h 1 39 2.0821520e+00 5.99e-07 5.55e-03 -4.1 1.86e+00 -5.5 1.00e+00 1.00e+00H 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 40 2.0822811e+00 8.43e-05 1.80e-03 -4.0 1.72e+00 -6.0 1.00e+00 1.00e+00f 1 41 2.0820310e+00 3.54e-04 1.72e-03 -4.1 7.39e+00 -6.4 1.00e+00 1.00e+00h 1 42 2.0821742e+00 1.94e-04 2.11e-03 -4.0 9.02e+00 -6.9 1.00e+00 1.00e+00h 1 43 2.0818400e+00 6.69e-04 5.71e-04 -4.1 2.78e+01 -7.4 1.00e+00 1.00e+00h 1 44 2.0819510e+00 9.86e-04 5.28e-03 -4.0 4.20e+01 -7.9 1.00e+00 1.00e+00h 1 45 2.0816116e+00 1.47e-03 4.68e-03 -4.1 5.93e+01 -8.4 1.00e+00 1.00e+00h 1 46 2.0818476e+00 1.10e-03 1.50e-03 -4.0 4.66e+01 -8.8 1.00e+00 1.00e+00h 1 47 2.0815838e+00 3.96e-04 1.59e-04 -4.1 1.70e+01 -9.3 1.00e+00 1.00e+00h 1 48 2.0818444e+00 1.84e-04 2.99e-05 -4.0 8.36e+00 -9.8 1.00e+00 1.00e+00h 1 49 2.0818434e+00 2.58e-08 5.67e-08 -4.0 3.40e-01 -10.3 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 50 2.0818434e+00 2.16e-13 1.00e-09 -4.0 2.90e-03 -10.7 1.00e+00 1.00e+00h 1 Number of Iterations....: 50 (scaled) (unscaled) Objective...............: 2.0818434105342223e+00 2.0818434105342223e+00 Dual infeasibility......: 1.0000000008153443e-09 1.0000000008153443e-09 Constraint violation....: 2.1643797865067427e-13 2.1643797865067427e-13 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 1.0000000000451247e-04 1.0000000000451247e-04 Overall NLP error.......: 1.0000000008153443e-09 1.0000000008153443e-09 Number of objective function evaluations = 52 Number of objective gradient evaluations = 51 Number of equality constraint evaluations = 52 Number of inequality constraint evaluations = 52 Number of equality constraint Jacobian evaluations = 51 Number of inequality constraint Jacobian evaluations = 51 Number of Lagrangian Hessian evaluations = 50 Total seconds in IPOPT = 0.675 EXIT: Optimal Solution Found. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.078s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.076s jacobian structure: 1600 nonzeros (3.155s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.224s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.277s) linear index maps built (0.0s) evaluator ready (total: 7.447s) evaluator created (7.475s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.477s) This is Ipopt version 3.14.19, running with linear solver MUMPS 5.8.2. Number of nonzeros in equality constraint Jacobian...: 1520 Number of nonzeros in inequality constraint Jacobian.: 16 Number of nonzeros in Lagrangian Hessian.............: 1589 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 0 1.8384767e+00 3.28e+00 6.61e-01 0.0 0.00e+00 - 0.00e+00 0.00e+00 0 1 1.9782336e+00 6.06e-01 1.44e+00 -0.9 1.77e+00 0.0 1.00e+00 8.14e-01f 1 2 2.7987055e+00 1.28e-02 1.16e+00 -1.0 4.83e-01 -0.5 7.91e-01 1.00e+00h 1 3 2.5174499e+00 1.05e-02 7.02e-01 -1.4 1.53e-01 -1.0 9.90e-01 6.72e-01h 1 4 2.1726313e+00 8.78e-03 4.45e-02 -2.2 1.72e-01 -1.4 9.89e-01 1.00e+00h 1 5 2.0983614e+00 6.36e-04 9.49e-03 -3.2 6.15e-02 -1.9 9.77e-01 9.79e-01h 1 6 2.0909120e+00 1.73e-05 6.29e-04 -4.0 1.10e-02 -2.4 1.00e+00 1.00e+00h 1 7 2.0909349e+00 3.53e-07 1.89e-05 -4.0 1.37e-02 -2.9 1.00e+00 1.00e+00h 1 8 2.0909305e+00 1.75e-09 1.86e-05 -4.0 4.08e-02 -3.3 1.00e+00 1.00e+00h 1 9 2.0909191e+00 7.72e-09 4.56e-05 -4.0 1.18e-01 -3.8 1.00e+00 1.00e+00h 1 iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls 10 2.0908908e+00 5.07e-08 1.89e-04 -4.0 3.25e-01 -4.3 1.00e+00 1.00e+00h 1 Number of Iterations....: 10 (scaled) (unscaled) Objective...............: 2.0908907621770365e+00 2.0908907621770365e+00 Dual infeasibility......: 1.8855967455243001e-04 1.8855967455243001e-04 Constraint violation....: 5.0664920030196736e-08 5.0664920030196736e-08 Variable bound violation: 0.0000000000000000e+00 0.0000000000000000e+00 Complementarity.........: 9.9999999999998812e-05 9.9999999999998812e-05 Overall NLP error.......: 1.8855967455243001e-04 1.8855967455243001e-04 Number of objective function evaluations = 11 Number of objective gradient evaluations = 11 Number of equality constraint evaluations = 11 Number of inequality constraint evaluations = 11 Number of equality constraint Jacobian evaluations = 11 Number of inequality constraint Jacobian evaluations = 11 Number of Lagrangian Hessian evaluations = 10 Total seconds in IPOPT = 29.986 EXIT: Stopping optimization at current point as requested by user. initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.063s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.049s jacobian structure: 1600 nonzeros (3.114s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.195s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.248s) linear index maps built (0.0s) evaluator ready (total: 7.362s) evaluator created (7.393s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.001s) optimizer initialization complete (total: 7.396s) Fidelity: 0.51 Fidelity: 0.52 Fidelity: 0.53 Fidelity: 0.54 Fidelity: 0.55 Fidelity: 0.56 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.077s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 2.997s jacobian structure: 1600 nonzeros (3.074s) integrator 1 hessian structure: 0.048s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.308s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.001s hessian structure: 1749 nonzeros (4.358s) linear index maps built (0.17s) evaluator ready (total: 7.603s) evaluator created (7.632s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.633s) Fidelity: 0.1 Best fidelities: 0: 0.1 Fidelity: 0.2 Best fidelities: 1: 0.2 0: 0.1 Fidelity: 0.30000000000000004 Best fidelities: 2: 0.30000000000000004 1: 0.2 0: 0.1 Fidelity: 0.4 Best fidelities: 3: 0.4 2: 0.30000000000000004 1: 0.2 Fidelity: 0.5 Best fidelities: 3: 0.4 2: 0.30000000000000004 4: 0.5 Fidelity: 0.6000000000000001 Best fidelities: 3: 0.4 4: 0.5 5: 0.6000000000000001 Fidelity: 0.7000000000000001 Best fidelities: 6: 0.7000000000000001 4: 0.5 5: 0.6000000000000001 Fidelity: 0.8 Best fidelities: 6: 0.7000000000000001 5: 0.6000000000000001 7: 0.8 Fidelity: 0.9 Best fidelities: 6: 0.7000000000000001 8: 0.9 7: 0.8 initializing optimizer... building evaluator: 3 integrators, 1 nonlinear constraints dynamics constraints: 72, nonlinear constraints: 8 integrator 1 jacobian structure: 0.07s integrator 2 jacobian structure: 0.0s integrator 3 jacobian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) jacobian structure: 3.024s jacobian structure: 1600 nonzeros (3.096s) integrator 1 hessian structure: 0.051s integrator 2 hessian structure: 0.0s integrator 3 hessian structure: 0.0s constraint 1 (NonlinearKnotPointConstraint) hessian structure: 4.113s computing objective hessian structure (CompositeObjective)... sub-objective 1 (KnotPointObjective): 0.0s sub-objective 2 (QuadraticRegularizer): 0.0s sub-objective 3 (QuadraticRegularizer): 0.0s sub-objective 4 (MinimumTimeObjective): 0.0s objective hessian structure: 0.0s hessian structure: 1749 nonzeros (4.165s) linear index maps built (0.0s) evaluator ready (total: 7.261s) evaluator created (7.289s) NL constraint bounds extracted (0.0s) NLP block data built (0.0s) Ipopt optimizer configured (0.0s) variables set (0.0s) applying constraint: initial value of x applying constraint: initial value of u applying constraint: final value of u applying constraint: bounds on u applying constraint: bounds on Δt linear constraints added: 5 (0.0s) optimizer initialization complete (total: 7.29s) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls 0 2.4080348e+00 3.13e+00 5.12e-01 9.26e-01 -1.0 - 0.00e+00 1 0 1 2.4080348e+00 3.13e+00 1.17e-03 4.02e-05 -1.0 0.0 1.00e-07 1 2h 2 2.7325416e+00 1.74e-01 1.24e-03 2.28e-05 -1.0 -0.5 1.00e+00 1 1h 3 2.4153892e+00 6.67e-02 9.69e-04 2.28e-05 -2.5 -0.1 6.32e-01 1 1h 4 2.2920951e+00 3.66e-02 1.09e-03 2.10e-05 -2.5 -0.5 4.52e-01 1 1h 5 2.1115450e+00 1.65e-02 7.89e-04 1.71e-05 -2.5 -1.0 8.58e-01 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1115450397594504e+00 2.1115450397594504e+00 Dual infeasibility......: 7.8926188686098979e-04 7.8926188686098979e-04 Constraint violation....: 1.6488498022695697e-02 1.6488498022695697e-02 Complementarity.........: 1.7134884338341406e-05 1.7134884338341406e-05 Overall NLP error.......: 1.6488498022695697e-02 1.6488498022695697e-02 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 14 Number of KKT backsolves = 6 Total wall secs in initialization = 2.829 s Total wall secs in linear solver = 0.006 s Total wall secs in NLP function evaluations = 19.711 s Total wall secs in solver (w/o init./fun./lin. alg.) = 32.796 s Total wall secs = 55.342 s EXIT: Maximum Number of Iterations Exceeded. This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 25 running 1 of 1 signal (10): User defined signal 1 _ZN4llvm13BasicAAResult10aliasCheckEPKNS_5ValueENS_12LocationSizeES3_S4_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm13BasicAAResult5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm9AAResults5aliasERKNS_14MemoryLocationES3_RNS_11AAQueryInfoEPKNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults30getSimplePointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults24getPointerDependencyFromERKNS_14MemoryLocationEbNS_21ilist_iterator_w_bitsINS_12ilist_detail12node_optionsINS_11InstructionELb1ELb0EvLb1ENS_10BasicBlockEEELb0ELb0EEEPS8_PS7_PjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults23getNonLocalInfoForBlockEPNS_11InstructionERKNS_14MemoryLocationEbPNS_10BasicBlockEPSt6vectorINS_16NonLocalDepEntryESaIS9_EEjRNS_14BatchAAResultsE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults27getNonLocalPointerDepFromBBEPNS_11InstructionERKNS_12PHITransAddrERKNS_14MemoryLocationEbPNS_10BasicBlockERNS_15SmallVectorImplINS_17NonLocalDepResultEEERNS_13SmallDenseMapISA_PNS_5ValueELj16ENS_12DenseMapInfoISA_vEENS_6detail12DenseMapPairISA_SH_EEEEbb at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults27getNonLocalPointerDepFromBBEPNS_11InstructionERKNS_12PHITransAddrERKNS_14MemoryLocationEbPNS_10BasicBlockERNS_15SmallVectorImplINS_17NonLocalDepResultEEERNS_13SmallDenseMapISA_PNS_5ValueELj16ENS_12DenseMapInfoISA_vEENS_6detail12DenseMapPairISA_SH_EEEEbb at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm23MemoryDependenceResults28getNonLocalPointerDependencyEPNS_11InstructionERNS_15SmallVectorImplINS_17NonLocalDepResultEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass19processNonLocalLoadEPNS_8LoadInstE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass18processInstructionEPNS_11InstructionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass12processBlockEPNS_10BasicBlockE.part.0 at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass17iterateOnFunctionERNS_8FunctionE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass7runImplERNS_8FunctionERNS_15AssumptionCacheERNS_13DominatorTreeERKNS_17TargetLibraryInfoERNS_9AAResultsEPNS_23MemoryDependenceResultsERNS_8LoopInfoEPNS_25OptimizationRemarkEmitterEPNS_9MemorySSAE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm7GVNPass3runERNS_8FunctionERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_8FunctionENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm27ModuleToFunctionPassAdaptor3runERNS_6ModuleERNS_15AnalysisManagerIS1_JEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/usr/include/llvm/IR/PassManagerInternal.h:91:41 _ZN4llvm11PassManagerINS_6ModuleENS_15AnalysisManagerIS1_JEEEJEE3runERS1_RS3_ at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) run at /source/src/pipeline.cpp:989:12 operator() at /source/src/jitlayers.cpp:1296:17 operator() at /source/src/jitlayers.cpp:1433:12 [inlined] optimizeModule at /source/src/jitlayers.cpp:2380:18 materialize at /source/src/jitlayers.cpp:903:31 _ZN4llvm3orc19MaterializationTask3runEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) dispatch at /source/src/julia-task-dispatcher.h:353:11 _ZN4llvm3orc16ExecutionSession22dispatchOutstandingMUsEv at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession17OL_completeLookupESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EESt10shared_ptrINS0_23AsynchronousSymbolQueryEESt8functionIFvRKNS_8DenseMapIPNS0_8JITDylibENS_8DenseSetINS0_15SymbolStringPtrENS_12DenseMapInfoISF_vEEEENSG_ISD_vEENS_6detail12DenseMapPairISD_SI_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc25InProgressFullLookupState8completeESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession19OL_applyQueryPhase1ESt10unique_ptrINS0_21InProgressLookupStateESt14default_deleteIS3_EENS_5ErrorE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) _ZN4llvm3orc16ExecutionSession6lookupENS0_10LookupKindERKSt6vectorISt4pairIPNS0_8JITDylibENS0_19JITDylibLookupFlagsEESaIS8_EENS0_15SymbolLookupSetENS0_11SymbolStateENS_15unique_functionIFvNS_8ExpectedINS_8DenseMapINS0_15SymbolStringPtrENS0_17ExecutorSymbolDefENS_12DenseMapInfoISI_vEENS_6detail12DenseMapPairISI_SJ_EEEEEEEEESt8functionIFvRKNSH_IS6_NS_8DenseSetISI_SL_EENSK_IS6_vEENSN_IS6_SV_EEEEEE at /opt/julia/bin/../lib/julia/libLLVM.so.21.1jl (unknown line) publishCIs at /source/src/jitlayers.cpp:2083:14 jl_compile_codeinst_impl at /source/src/jitlayers.cpp:510:39 jl_compile_method_very_internal at /source/src/gf.c:3932:27 _jl_invoke at /source/src/gf.c:4342:16 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 hessian at /home/pkgeval/.julia/packages/ForwardDiff/4J2wz/src/hessian.jl:15:0 (pc: 2) unknown function (ip: 0x76c124d66e21) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 eval_hessian_of_lagrangian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/integrators/bilinear_integrator.jl:145:0 (pc: 228) unknown function (ip: 0x76c124d66b95) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 _fill_hessian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:578:0 (pc: 137) unknown function (ip: 0x76c1596ec2c8) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 eval_hessian_lagrangian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:401:0 (pc: 19) unknown function (ip: 0x76c17cdecbe8) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 eval_hessian_lagrangian at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1217:0 (pc: 222) #hess_coord!#11 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1282:0 [inlined] hess_coord! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1281:0 [inlined] #_eval_lag_hess_wrapper!#14 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/Callbacks/nlpmodels.jl:855:0 (pc: 357) _eval_lag_hess_wrapper! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/Callbacks/nlpmodels.jl:846:0 [inlined] macro expansion at ./timing.jl:505:0 [inlined] #eval_lag_hess_wrapper!#170 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/callbacks.jl:83:0 (pc: 58) eval_lag_hess_wrapper! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/callbacks.jl:77:0 [inlined] initialize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:67:0 (pc: 376) #solve!#175 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:152:0 (pc: 69) solve! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:132:0 [inlined] #solve!#174 at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:131:0 [inlined] solve! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/src/IPM/solver.jl:131:0 (pc: 2) unknown function (ip: 0x76c124d000e2) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 optimize! at /home/pkgeval/.julia/packages/MadNLP/8V9Lm/ext/MadNLPMOI/MOI_wrapper.jl:1510:0 (pc: 432) unknown function (ip: 0x76c1313c1112) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 #_solve#1 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:54:0 (pc: 105) _solve at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/solver.jl:13:0 [inlined] #solve!#50 at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:202:0 [inlined] solve! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/solve.jl:195:0 (pc: 9) unknown function (ip: 0x76c124fb8890) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:707:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) include_string at ./loading.jl:3142:0 (pc: 1) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] jl_f_invokelatest at /source/src/builtins.c:931:23 #run_testitem##6 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:119:0 [inlined] withpath at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/vendored_code.jl:7:0 (pc: 72) #run_testitem##4 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:118:0 [inlined] cd at ./file.jl:112:0 (pc: 19) unknown function (ip: 0x76c18957b3d6) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 run_testitem at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:117:0 (pc: 258) unknown function (ip: 0x76c18957af9e) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:277:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:275:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] macro expansion at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:253:0 [inlined] macro expansion at /source/usr/share/julia/stdlib/v1.14/Test/src/Test.jl:2415:0 [inlined] #run_tests#7 at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:250:0 (pc: 1498) run_tests at /home/pkgeval/.julia/packages/TestItemRunner/GnoVt/src/TestItemRunner.jl:134:0 (pc: 7) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:707:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) include_string at ./loading.jl:3132:0 (pc: 207) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 _include at ./loading.jl:3192:0 (pc: 122) include at ./Base.jl:326:0 (pc: 1) IncludeInto at ./Base.jl:327:0 (pc: 2) jfptr_IncludeInto_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] do_call at /source/src/interpreter.c:123:26 eval_value at /source/src/interpreter.c:243:16 eval_stmt_value at /source/src/interpreter.c:194:23 [inlined] eval_body at /source/src/interpreter.c:707:13 jl_interpret_toplevel_thunk at /source/src/interpreter.c:897:21 ijl_eval_thunk at /source/src/toplevel.c:764:18 jl_toplevel_eval_flex at /source/src/toplevel.c:708:26 jl_eval_toplevel_stmts at /source/src/toplevel.c:598:15 jl_toplevel_eval_flex at /source/src/toplevel.c:680:27 ijl_toplevel_eval at /source/src/toplevel.c:778:12 ijl_toplevel_eval_in at /source/src/toplevel.c:823:13 eval at ./boot.jl:522:0 (pc: 1) exec_options at ./client.jl:321:0 (pc: 425) _start at ./client.jl:596:0 (pc: 294) jfptr__start_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] true_main at /source/src/jlapi.c:971:29 jl_repl_entrypoint at /source/src/jlapi.c:1138:15 main at /source/cli/loader_exe.c:58:15 unknown function (ip: 0x76c1aea84249) at /lib/x86_64-linux-gnu/libc.so.6 __libc_start_main at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) unknown function (ip: 0x4010b8) at /workspace/srcdir/glibc-2.17/csu/../sysdeps/x86_64/start.S unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== iter objective inf_pr inf_du inf_compl lg(mu) lg(rg) alpha_pr ir ls ====================================================================================== Information request received. A stacktrace will print followed by a 1.0 second profile. --trace-compile is enabled during profile collection. ====================================================================================== cmd: /opt/julia/bin/julia 1 running 0 of 1 signal (10): User defined signal 1 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) ============================================================== Profile collected. A report will print at the next yield point. Disabling --trace-compile ============================================================== 0 3.7311978e+00 3.18e+00 5.72e-01 9.79e-01 -1.0 - 0.00e+00 1 0 ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 Overhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x000070561d7070d0 Total snapshots: 430. Utilization: 0% ╎430 @Base/task.jl:1170 wait_forever() 429╎ 430 @Base/task.jl:1248 wait() ┌ Warning: There were no samples collected in one or more groups. │ This may be due to idle threads, or you may need to run your │ program longer (perhaps by running it multiple times), │ or adjust the delay between samples with `Profile.init()`. └ @ Profile /opt/julia/share/julia/stdlib/v1.14/Profile/src/Profile.jl:1361 1 3.7311976e+00 3.18e+00 1.09e-03 1.49e-04 -1.0 0.0 1.00e-07 1 2hOverhead ╎ [+additional indent] Count File:Line Function ========================================================= Thread 1 (default) Task 0x000076c193ffc010 Total snapshots: 1. Utilization: 100% ╎1 @Base/client.jl:596 _start() ╎ 1 @Base/client.jl:321 exec_options(opts::Base.JLOptions) ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ 1 @Base/Base.jl:327 (::Base.IncludeInto)(fname::String) ╎ 1 @Base/Base.jl:326 include(mapexpr::Function, mod::Module, _path::Strin… ╎ 1 @Base/loading.jl:3192 _include(mapexpr::Function, mod::Module, _path:… ╎ ╎ 1 @Base/loading.jl:3132 include_string(mapexpr::typeof(identity), mod:… ╎ ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ ╎ 1 @TestItemRunner/…er.jl:134 kwcall(::@NamedTuple{filter::var"#2#3"}… ╎ ╎ 1 @TestItemRunner/…r.jl:250 run_tests(path::String; filter::var"#2#… ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:253 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/….jl:275 macro expansion ╎ ╎ ╎ 1 @Test/src/Test.jl:2415 macro expansion ╎ ╎ ╎ 1 @TestItemRunner/…jl:277 macro expansion ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:117 run_testitem(filepath::String, use_… ╎ ╎ ╎ ╎ 1 @Base/file.jl:112 cd(f::TestItemRunner.var"#run_testitem#… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:118 (::TestItemRunner.var"#run_testit… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…l:7 withpath(f::TestItemRunner.var"#ru… ╎ ╎ ╎ ╎ 1 @TestItemRunner/…:119 (::TestItemRunner.var"#run_testi… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3142 include_string(m::Module, txt::… ╎ ╎ ╎ ╎ ╎ 1 @Base/loading.jl:3132 include_string(mapexpr::typeof… ╎ ╎ ╎ ╎ ╎ 1 @Base/boot.jl:522 eval(m::Module, e::Any) ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:195 kwcall(::@NamedTuple{options:… ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:202 solve!(prob::DirectTrajOptPr… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:13 kwcall(::@NamedTuple{verbose… ╎ ╎ ╎ ╎ ╎ ╎ 1 @DirectTrajOpt/…:54 _solve(prob::DirectTrajOptP… ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/…r.jl:1510 optimize!(model::MadNLPMOI.… ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/…r.jl:131 solve!(solver::MadNLP.MadNL… ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/…r.jl:131 solve!(solver::MadNLP.MadN… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:132 solve!(solver::MadNLP.MadN… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:152 solve!(solver::MadNLP.Mad… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:67 initialize!(solver::MadNL… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:77 eval_lag_hess_wrapper!(s… ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:83 eval_lag_hess_wrapper!(… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @Base/…ng.jl:505 macro expansion ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:846 kwcall(::@NamedTuple… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:855 _eval_lag_hess_wrap… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:1281 kwcall(::@NamedTu… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ 1 @MadNLP/….jl:1282 hess_coord!(nlp:… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +1 1 @MadNLP/….jl:1217 eval_hessian_lag… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +2 1 @DirectTrajOpt/…:401 eval_hessian_… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +3 1 @DirectTrajOpt/…:578 _fill_hessian… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +4 1 @DirectTrajOpt/…:145 eval_hessian_… ╎ ╎ ╎ ╎ ╎ ╎ ╎ ╎ +5 1 @ForwardDiff/…:15 hessian(f::Direc… 2 2.7310514e+00 5.76e-02 1.24e-04 2.47e-05 -1.0 -0.5 1.00e+00 1 1h 3 2.3216601e+00 4.89e-02 1.30e-04 2.76e-05 -2.5 -1.0 6.76e-01 1 1h 4 2.2291612e+00 4.49e-02 7.68e-04 2.56e-05 -2.5 -1.4 1.23e-01 1 1h 5 2.1372227e+00 5.39e-03 1.71e-03 1.52e-05 -2.5 -1.9 1.00e+00 1 1h Number of Iterations....: 5 (scaled) (unscaled) Objective...............: 2.1372226673361698e+00 2.1372226673361698e+00 Dual infeasibility......: 1.7118887989399205e-03 1.7118887989399205e-03 Constraint violation....: 5.3948199301311860e-03 5.3948199301311860e-03 Complementarity.........: 1.5216221897354041e-05 1.5216221897354041e-05 Overall NLP error.......: 5.3948199301311860e-03 5.3948199301311860e-03 Number of objective function evaluations = 7 Number of objective gradient evaluations = 6 Number of constraint evaluations = 7 Number of constraint Jacobian evaluations = 6 Number of Lagrangian Hessian evaluations = 5 Number of KKT factorizations = 13 Number of KKT backsolves = 6 Total wall secs in initialization = 0.148 s Total wall secs in linear solver = 0.006 s Total wall secs in NLP function evaluations = 20.852 s Total wall secs in solver (w/o init./fun./lin. alg.) = 37.184 s Total wall secs = 58.190 s EXIT: Maximum Number of Iterations Exceeded. [ Info: Setting fixed_variable_treatment = MadNLP.RelaxBound for AbstractIntermediateCallback (MadNLP's kkt_system default would otherwise eliminate fixed vars from solver.x) This is MadNLP version v0.9.2, running with MUMPS v5.8.2 Number of nonzeros in constraint Jacobian............: 1600 Number of nonzeros in Lagrangian Hessian.............: 1749 Total number of variables............................: 102 variables with only lower bounds: 0 variables with lower and upper bounds: 26 variables with only upper bounds: 0 Total number of equality constraints.................: 72 Total number of inequality constraints...............: 8 inequality constraints with only lower bounds: 0 inequality constraints with lower and upper bounds: 0 inequality constraints with only upper bounds: 8 [1] signal 15: Terminated in expression starting at /PkgEval.jl/scripts/evaluate.jl:214 epoll_pwait at /lib/x86_64-linux-gnu/libc.so.6 (unknown line) uv__io_poll at /workspace/srcdir/libuv/src/unix/linux.c:1404:0 uv_run at /workspace/srcdir/libuv/src/unix/core.c:430:0 ijl_task_get_next at /source/src/scheduler.c:524:34 wait at ./task.jl:1248:0 (pc: 107) wait_forever at ./task.jl:1170:0 (pc: 4) jfptr_wait_forever_0.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] start_task at /source/src/task.c:1276:19 unknown function (ip: (nil)) at (unknown file) Allocations: 18785628 (Pool: 18784895; Big: 733); GC: 17 [25] signal 15: Terminated in expression starting at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/ext/MadNLPSolverExt/MadNLPSolverExt.jl:111 _builtin_nothrow at ./../usr/share/julia/Compiler/src/tfuncs.jl:2336:0 builtin_nothrow at ./../usr/share/julia/Compiler/src/tfuncs.jl:2877:0 [inlined] builtin_effects at ./../usr/share/julia/Compiler/src/tfuncs.jl:2789:0 (pc: 831) stmt_effect_flags at ./../usr/share/julia/Compiler/src/optimize.jl:404:0 (pc: 195) recompute_effects_flags at ./../usr/share/julia/Compiler/src/optimize.jl:452:0 [inlined] add_inst_flag! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1193:0 [inlined] add_inst_flag! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1190:0 [inlined] process_simple! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1239:0 (pc: 507) assemble_inline_todo! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:1582:0 (pc: 55) ssa_inlining_pass! at ./../usr/share/julia/Compiler/src/ssair/inlining.jl:76:0 [inlined] run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1048:0 (pc: 8) run_passes_ipo_safe at ./../usr/share/julia/Compiler/src/optimize.jl:1061:0 [inlined] optimize at ./../usr/share/julia/Compiler/src/optimize.jl:1034:0 [inlined] finish_nocycle at ./../usr/share/julia/Compiler/src/typeinfer.jl:278:0 (pc: 14) jfptr_finish_nocycle_1.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 typeinf at ./../usr/share/julia/Compiler/src/abstractinterpretation.jl:4985:0 (pc: 251) typeinf_ext at ./../usr/share/julia/Compiler/src/typeinfer.jl:1545:0 (pc: 150) typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1750:0 [inlined] typeinf_ext_toplevel at ./../usr/share/julia/Compiler/src/typeinfer.jl:1759:0 (pc: 15) jfptr_typeinf_ext_toplevel_5.1 at /opt/julia/lib/julia/sys.so (unknown line) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 jl_apply at /source/src/julia.h:2402:12 [inlined] jl_type_infer at /source/src/gf.c:475:35 jl_compile_method_very_internal at /source/src/gf.c:3909:20 _jl_invoke at /source/src/gf.c:4342:16 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 eval_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/integrators/bilinear_integrator.jl:114:0 (pc: 131) unknown function (ip: 0x76c124de645e) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 _fill_jacobian_values! at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:507:0 (pc: 117) unknown function (ip: 0x76c1596cc415) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 eval_constraint_jacobian at /home/pkgeval/.julia/packages/DirectTrajOpt/TIf6x/src/solvers/evaluator.jl:377:0 (pc: 19) unknown function (ip: 0x76c17cd92ad5) at (unknown file) _jl_invoke at /source/src/gf.c:4350:23 [inlined] ijl_apply_generic at /source/src/gf.c:4588:12 PkgEval terminated after 2738.34s: test duration exceeded the time limit